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AP_InertialSensor: fixed pixfalcon 9250 detection

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This commit is contained in:
Andrew Tridgell 2016-11-18 14:24:39 +11:00
parent 78b73d659f
commit 18d4286166
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -689,7 +689,10 @@ AP_InertialSensor::detect_backends(void)
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME))); _add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK) { } else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK) {
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME), ROTATION_ROLL_180)); if (!_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME), ROTATION_ROLL_180))) {
// handle pixfalcon with mpu9250 instead of mpu6000
_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180));
}
_add_backend(AP_InertialSensor_LSM9DS0::probe(*this, _add_backend(AP_InertialSensor_LSM9DS0::probe(*this,
hal.spi->get_device(HAL_INS_LSM9DS0_G_NAME), hal.spi->get_device(HAL_INS_LSM9DS0_G_NAME),
hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME),