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Merged
patrickelectric merged 2 commits into from
Apr 28, 2026
Merged

New sensor #3887

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1c33685
Frontend: add new compass and INS types
Williangalvani Apr 17, 2026
5800689
ardupilot manager: allow either ak09915 or IIS2MDC compasses for navi…
Williangalvani Apr 23, 2026
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ardupilot manager: allow either ak09915 or IIS2MDC compasses for navi… 
…gator
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@Williangalvani
Williangalvani committed Apr 23, 2026
commit 5800689e2356f11996910bc5d2883515bb061339
28 changes: 22 additions & 6 deletions core/services/ardupilot_manager/flight_controller_detector/linux/navigator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,13 +34,17 @@ def get_serials(self) -> List[Serial]:


class NavigatorPi5(Navigator):
devices = {
required_devices = {
"ADS1115": (0x48, 1),
"AK09915": (0x0C, 1),
"BME280": (0x76, 1),
"PCA9685": (0x40, 3),
}

magnetometer_devices = {
"AK09915": (0x0C, 1),
"IIS2MDC_0x1E": (0x1E, 1),
}

def get_serials(self) -> List[Serial]:
return [
Serial(port="C", endpoint="/dev/ttyAMA0"),
Expand All @@ -52,17 +56,25 @@ def get_serials(self) -> List[Serial]:
def detect(self) -> bool:
if not get_cpu_type() == CpuType.PI5:
return False
return all(self.check_for_i2c_device(bus, address) for address, bus in self.devices.values())
required_ok = all(self.check_for_i2c_device(bus, address) for address, bus in self.required_devices.values())
magnetometer_ok = any(
self.check_for_i2c_device(bus, address) for address, bus in self.magnetometer_devices.values()
)
return required_ok and magnetometer_ok


class NavigatorPi4(Navigator):
devices = {
required_devices = {
"ADS1115": (0x48, 1),
"AK09915": (0x0C, 1),
"BME280": (0x76, 1),
"PCA9685": (0x40, 4),
}

magnetometer_devices = {
"AK09915": (0x0C, 1),
"IIS2MDC_0x1E": (0x1E, 1),
}

def get_serials(self) -> List[Serial]:
release = "Bullseye"
os_release = load_file("/etc/os-release")
Expand All @@ -89,4 +101,8 @@ def get_serials(self) -> List[Serial]:
def detect(self) -> bool:
if not get_cpu_type() == CpuType.PI4:
return False
return all(self.check_for_i2c_device(bus, address) for address, bus in self.devices.values())
required_ok = all(self.check_for_i2c_device(bus, address) for address, bus in self.required_devices.values())
magnetometer_ok = any(
self.check_for_i2c_device(bus, address) for address, bus in self.magnetometer_devices.values()
)
return required_ok and magnetometer_ok
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