Multi-Magnetometer support is complete. needs testing. A process function is added to TrajectoryFollower.cpp to fuse all three sensor readings into single x-y-z measurements. I chose to place the function here rather than in the magnetometer library because it seems to fall more under the realm of data or signal processing. This code needs testing.

Author: jacobh460

lib/IMU/IMU.cpp

@@ -30,7 +30,7 @@ constexpr double GYRO_RESOLUTION = 1.0 / 16.4;
 
 using namespace IMU;
 
-Sensor IMU::IMUs[IMU_COUNT] = {Sensor(IMU_CS, &SPI)};
+Sensor IMU::IMUs[IMU_COUNT] = {Sensor(0, &SPI)};
 
 int read_reg(void *context, uint8_t reg, uint8_t *buf, uint32_t len);
 int write_reg(void *context, uint8_t reg, const uint8_t *buf, uint32_t len);

lib/fc_pins/fc_pins.h

@@ -9,4 +9,6 @@
 #define RADIO_TX PC6
 #define RADIO_RX PC7
 #define PROP1_PIN PA8
-#define IMU_CS PA4
+
+const uint32_t IMU_CS[] = {PB5, PB4, PB3};
+const uint32_t MAG_CS[] = {PD7, PE7, PE4};