MatekH743 board_id, usb vid/pid changes, and MPU6000 delay before transfer - not after

[vvladic]

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Describe problem solved by this pull request
Board_id not compatible with ardupilot, uninitialized gpio outputs, delay before transfer not after in MPU6000

Describe your solution
Corrected board id, initialized outputs, moved delay before spi transfer

Describe possible alternatives
A clear and concise description of alternative solutions or features you've considered.

Test data / coverage
Bench tested: bootloader OK, pins enabled permanently for now, MPU6000 delay moved before spi transfer

[taileron]

@vvladic how about remove the suffix "slim" from your target which, by the way, also runs perfectly on the mini fc. Having an unified target that should run on all variants of this fc (like AP does). By adding appropriate modules, mc, fw and vtol would be feasible with the code. #18730 Only one folder would have to be maintained ...

[vvladic]

@vvladic how about remove the suffix "slim" from your target which, by the way, also runs perfectly on the mini fc. Having an unified target that should run on all variants of this fc (like AP does). By adding appropriate modules, mc, fw and vtol would be feasible with the code. #18730 Only one folder would have to be maintained ...

We can do this in another pull request perhaps, after we merge this one. Would that be ok?

[vvladic]

@dagar Can we merge this? Is there anything else that you wish to be done before merging?

[dagar]

@dagar Can we merge this? Is there anything else that you wish to be done before merging?

Are you sure the flash based parameters are working on H7? Last I heard there was an issue due to the ECC.

[dagar]

Maybe leave the flash based parameter changes commented and we'll merge the rest right now?

[vvladic]

Maybe leave the flash based parameter changes commented and we'll merge the rest right now?

It's already disabled in board_config.h

PX4-Autopilot/boards/matek/h743-slim/src/board_config.h

Lines 52 to 57 in 5b07398

	/****************************************************************************************************
	* Definitions
	****************************************************************************************************/
	// #define FLASH_BASED_PARAMS

Would you like me to comment it out of src/init.c as well?

[dagar]

Would you like me to comment it out of src/init.c as well?

Yes please, let's try to make it as obvious as possible.

[dagar]

Thanks @vvladic

[taileron]

@vvladic how about remove the suffix "slim" from your target which, by the way, also runs perfectly on the mini fc. Having an unified target that should run on all variants of this fc (like AP does). By adding appropriate modules, mc, fw and vtol would be feasible with the code. #18730 Only one folder would have to be maintained ...

We can do this in another pull request perhaps, after we merge this one. Would that be ok?

no problem, but this board now also uses IMU ICM42605 instead of ICM20602 in the current version