Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Compass: Added support for internal i2c bus to VRBrain-v51 

Now the internal compass HMC5883 of the VRBrain-v51 is correctly recognized

Co-authored-by: Pierre Kancir <pierre.kancir.emn@gmail.com>
This commit is contained in:
Marko 2019-04-16 23:13:33 +02:00 committed by Andrew Tridgell
parent e600df680e
commit 00d0fe876d
1 changed files with 6 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_Compass/AP_Compass.cpp
View File

@ -1246,17 +1246,18 @@ void Compass::_detect_backends(void)
ADD_BACKEND(DRIVER_BMM150,
AP_Compass_BMM150::probe(GET_I2C_DEVICE(0, 0x10), false, ROTATION_NONE));
break;
case AP_BoardConfig::VRX_BOARD_BRAIN54: {
case AP_BoardConfig::VRX_BOARD_BRAIN54:
case AP_BoardConfig::VRX_BOARD_BRAIN51: {
// external i2c bus
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(1, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180));
}
// internal i2c bus
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR),
false, ROTATION_YAW_270));
}
break;
case AP_BoardConfig::VRX_BOARD_BRAIN51:
case AP_BoardConfig::VRX_BOARD_BRAIN52:
case AP_BoardConfig::VRX_BOARD_BRAIN52E:
case AP_BoardConfig::VRX_BOARD_CORE10: