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AP_InertialSensor: use correct ifdef for AK8963

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This commit is contained in:
Andrew Tridgell 2015-01-07 11:58:05 +11:00
parent 9835544163
commit 1b3c3c754d
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
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@ -418,7 +418,7 @@ bool AP_InertialSensor_MPU9250::_hardware_init(void)
// Chip reset
uint8_t tries;
for (tries = 0; tries<5; tries++) {
#if CONFIG_COMPASS != HAL_COMPASS_AK8963
#if HAL_COMPASS_DEFAULT != HAL_COMPASS_AK8963
/* Prevent reseting if internal AK8963 is selected, because it may corrupt
* AK8963's initialisation. */
_register_write(MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_DEVICE_RESET);
@ -448,7 +448,7 @@ bool AP_InertialSensor_MPU9250::_hardware_init(void)
_register_write(MPUREG_PWR_MGMT_2, 0x00); // only used for wake-up in accelerometer only low power mode
// Disable I2C bus (recommended on datasheet)
#if CONFIG_COMPASS != HAL_COMPASS_AK8963
#if HAL_COMPASS_DEFAULT != HAL_COMPASS_AK8963
/* Prevent disabling if internal AK8963 is selected. If internal AK8963 is not used
* it's ok to disable I2C slaves*/
_register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_I2C_IF_DIS);