IMU/SPI failure on Arduino ESP32

[slavicd]

I am trying to install the flight controller on my Arduino ESP32 board and I'm getting this error I can't get past. I am not sure whether this is a bug or whether I am doing something wrong.

I am using Arduino IDE. Note that when I connect my board to the computer the IDE selects/recommends the Arduino ESP32 board (not the "esp32 by Espressif Systems").

This is the output from my serial (/dev/ttyACM0):

madflight v2.3.0 starting 1 ...
Arduino library: Arduino-ESP32 v2.0.17
Processor: ESP32-S3
CFG: Loading EEPROM - EEPROM Header invalid, using defaults
CFG: Loading config - madflight_board is empty, madflight_config loaded OK
LED: NONE 
RCL: NONE - Channels: roll:1 pitch:2 throttle:3 yaw:4 armed:5 flightmode:6
BAR: NONE 
MAG: NONE 
BAT: NONE 
RDR: NONE 
OFL: NONE 
GPS: NONE 
ALT: KALMAN3  altCov=0.200000 accCov=0.010000 biasCov=0.100000
AHR: MAHONY 
IMU: MPU6500 
IMU: ERROR SPI sensor without imu_spi_bus and/or pin_imu_cs

IMU: MPU6500 ERROR check pin/bus config: imu_cal_ax:0.000000 imu_cal_ay:0.000000 imu_cal_az:0.000000 imu_cal_gx:0.000000 imu_cal_gy:0.000000 imu_cal_gz:0.000000 imu_spi_bus:1 imu_i2c_bus:-1 imu_i2c_adr:0 imu_align:CW0 imu_rate:1000.000000 imu_acc_lp:70.000000 imu_gyr_lp:60.000000 imu_bus_type:SPI pin_imu_cs:10 pin_imu_int:9 pin_imu_clkin:-1 

I did specify all the IMU configs in madflight_config.h:

//--- IMU --- Inertial Measurement Unit  (use spi -OR- i2c bus)
//imu_gizmo      NONE  // options: NONE, BMI270, ICM42688, ICM45686, MPU6000, MPU6050, MPU6500, MPU9150, MPU9250
imu_gizmo      MPU6500  
imu_bus_type   SPI   // options: SPI, I2C (not all combinations of gizmo and bus_type are supported)
imu_align      CW0   // options: CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP
imu_spi_bus    1    // spi
pin_imu_cs     10    // spi
pin_imu_int    9    // spi and i2c

What I tried

• setting imu_spi_bus to 0 (which I think is the correct default bus number for my board)
• using defaults for all but imu_bus_type and imu_gizmo
• using the Espressif version (3.3.*) board in Arduino IDE (fails with an error aboud "SD.h having more candidates")

[slavicd]

An update to this saga: I believe what happens is that the documentation does not refer to my Arduino board (which seems to be the "actual" Arduino board, but, rather to other versions. I've manually supplied the spi bus pins, which seems to have moved the issue along and I'm no longer getting the "check pin/bus config" issue, but getting this:

IMU: WARNING: MPU6500 whoami mismatch, got:0x30 expected:0x70, attempting autodetect

This would seem to indicate that I have a non-standard IMU6500, however, I checked it in a simple Arduino sketch (on a different Uno board) and the IMU correctly responds with 0x70 for whoAmI reads.

I went ahead and changed the library code to accept 0x30 value for the MPU6500 and the flight controller is now alive! Still, somewhere here there are issues that can/should be addressed.