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AP_Compass: don't run the AK8963 on the external MPU9250

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this saves us one mag slot for another external mag, and leaves the
primary MPU9250 undisturbed by the mag traffic on the bus
This commit is contained in:
Andrew Tridgell 2016-11-10 13:05:22 +11:00
parent 70c27a85de
commit 0eac781559
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Compass/AP_Compass.cpp
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@ -514,10 +514,10 @@ void Compass::_detect_backends(void)
AP_Compass_LSM303D::name, false);
}
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V3) {
_add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_PITCH_180),
AP_Compass_AK8963::name, false);
_add_backend(AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME), ROTATION_YAW_270),
AP_Compass_LSM303D::name, false);
// we run the AK8963 only on the 2nd MPU9250, which leaves the
// first MPU9250 to run without disturbance at high rate
_add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 1, ROTATION_YAW_270),
AP_Compass_AK8963::name, false);
}