How to setup and use BMI160 and FET brushed motors - IMU error

[vibgyor-s]

Hello,
I was trying to setup a basic board with ESP32S3 with BMI160 on I2C. This is a brushed motor micro quadcopter.

I am however facing issue with IMU not able to initialize.

• The madflight site mentions in its "sensors" page that BMI160 is available.
• However, in code, it doesn't have .h to BMI160.
• I tried to set it up as BMI270, but since it only supports SPI, I got an error.

Could you please guide me how to setup madflight with BMI160 on I2C? If needed I can also rewire to SPI, but there is no library for BMI160 included in the madflight code.

Please also guide what parameters to use for setting up brushed motors. I an driving them through SI2302 FETs

[qqqlab]

BMI160 is not supported (yet). If you find a nice Arduino library for the BMI160, you could consider adding a madflight gizmo for it.

The sensor page on the website lists sensor boards in general, some of which are supported by madflight. I'll add this notice on that page, thanks for the heads-up.

For brushed motors you have use something like:

’bool success = out.setupMotors(4, motor_idxs, motor_pins, 5000, 0, 200); // Brushed motors: 5000Hz PWM frequency, 0-200 us duty cycle (i.e. 0-100% duty cycle at 5000Hz)`

[vibgyor-s]

Thankyou very much for your response!
The sensor boards site update makes it quite clear now!

Me and my peers do look forward to adding a BMI160 gizmo, though we are currently new to HAL style of integration and so we need to study the code and recent pull requests for new sensor board addition..
We will try to add in with ref. to this Arduino code available.
BMI160 ARDUINO
We would be very grateful if you may point us to any learning resource for integrating thru HAL

Thankyou very much for this project!

[qqqlab]

Thanks! Sounds good, I hope it works out.

The HAL part is actually fairly limited. Just write Arduino code, but use the MF_I2C wrapper instead of Wire.

I've added a section on creating a new gizmo: see https://madflight.com/Developer-Guide/

In the dev guide I used the less complex radar sensor as example, but the principle is the same for a imu sensor. Just be aware that the imu sensor code is not as structured as the radar code, because the imu code has madflight v1 heritage...