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AP_Compass_VRBrain: add support for two compasses

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This commit is contained in:
Emile Castelnuovo 2014-07-23 20:51:07 +09:00 committed by Randy Mackay
parent 4deafffb3e
commit 1092447360
1 changed files with 8 additions and 8 deletions
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16
libraries/AP_Compass/AP_Compass_VRBRAIN.cpp
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@ -44,18 +44,18 @@ extern const AP_HAL::HAL& hal;
bool AP_Compass_VRBRAIN::init(void)
{
_mag_fd[0] = open(MAG_DEVICE_PATH, O_RDONLY);
if (_mag_fd[0] < 0) {
_mag_fd[1] = open(MAG_DEVICE_PATH "1", O_RDONLY);
_num_instances = 0;
for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
if (_mag_fd[i] >= 0) {
_num_instances = i+1;
}
}
if (_num_instances == 0) {
hal.console->printf("Unable to open " MAG_DEVICE_PATH "\n");
return false;
}
_mag_fd[1] = open(MAG_DEVICE_PATH "1", O_RDONLY);
if (_mag_fd[1] >= 0) {
_num_instances = 2;
} else {
_num_instances = 1;
}
for (uint8_t i=0; i<_num_instances; i++) {
#ifdef DEVIOCGDEVICEID
// get device id