[imu_aspirin2] make the aspirin2 driver partially compatible with 2.2

[flixr]

pull the baro CS line up...

please test...

[flixr]

Seriously???
Nobody has the hardware to test this??

[OpenUAS]

If I would finally get my snail mail, yes some of them... Weather and AC repairs permittting some tests soon...

[podhrmic]

After some time I got back to v4.2 and tested this patch.
Using Lia 1.1. w. Aspirin 2.2., newest 4.2. version (commit 5729559). Default Quad_Lisa_M2 airframe (quadrotor_lisa_m_2_pwm_spektrum.xml)
I tested it on the ground, not in flight.

So a few comments:

1. Attitude estimation works (gyro, acc, mag) sensor.
2. Pressure sensor doesn't work of course (baro is on SPI bus)
3. GPS on UART5 still doesn't work (throws an error during compilation). The problem is on this line https://github.com/paparazzi/paparazzi/blob/v4.2/sw/airborne/subsystems/gps/gps_ubx.c#L279
   Would be cool to add some check like IF GPS_LINK != UART5 then UbxSend... otherwise it would be an empty function.

[podhrmic]

So good thing is the system doesn't crash and you can probably fly in Atitude_direct mode. However, it is not ready for an autonomous flight yet (no altitude sensor).

[flixr]

Thx for testing this Michal. Merged...
For baro support on aspirin 2.2 use master, patces/pulll requests for GPS on UART5 are welcome ;-)

[podhrmic]

As far as GPS on UART5 patch goes, I tried this:

void ubxsend_cfg_rst(uint16_t bbr , uint8_t reset_mode) {
#ifdef GPS_LINK
#if UART5 != GPS_LINK
UbxSend_CFG_RST(bbr, reset_mode, 0x00);
#endif
#endif /* else less harmful for HITL */
}

but I get an error: subsystems/gps/gps_ubx.c:282:5: error: operator '*' has no right operand
Although GPS_LINK and UART5 are the same.

Any idea how to tell the preprocessor not to include UbxSend function if GPS_LINK = UART5?