Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-02 05:58:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_InertialSensor: Edge: add sensor's rotation YAW_90

Browse Source
This commit is contained in:
Alexey Bulatov 2017-06-23 18:27:08 +03:00 committed by Lucas De Marchi
parent 710594eee3
commit 069c98b8a9
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -775,7 +775,7 @@ AP_InertialSensor::detect_backends(void)
#elif HAL_INS_DEFAULT == HAL_INS_MPU9250_SPI #elif HAL_INS_DEFAULT == HAL_INS_MPU9250_SPI
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME))); _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
#elif HAL_INS_DEFAULT == HAL_INS_EDGE #elif HAL_INS_DEFAULT == HAL_INS_EDGE
AP_InertialSensor_Backend *backend = AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)); AP_InertialSensor_Backend *backend = AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME), ROTATION_YAW_90);
if (backend) { if (backend) {
_add_backend(backend); _add_backend(backend);
hal.console->printf("First IMU detected\n"); hal.console->printf("First IMU detected\n");
@ -783,7 +783,7 @@ AP_InertialSensor::detect_backends(void)
hal.console->printf("First IMU not detected\n"); hal.console->printf("First IMU not detected\n");
} }
backend = AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME_EXT)); backend = AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME_EXT), ROTATION_YAW_90);
if (backend) { if (backend) {
_add_backend(backend); _add_backend(backend);
hal.console->printf("Second IMU detected\n"); hal.console->printf("Second IMU detected\n");