From 26c8007c96e3f4682e891dc4950b1b991eeb97ef Mon Sep 17 00:00:00 2001 From: Staroselskii Georgii Date: Thu, 2 Jul 2015 16:38:31 +0300 Subject: [PATCH] AP_Compass: updated backend detect method Uses reimplemented AK8963 driver. There's also no need trying to detect this compass twice. Actually, it might even be bad, because the current code can allocate an AK8963 object twice. --- libraries/AP_Compass/Compass.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/libraries/AP_Compass/Compass.cpp b/libraries/AP_Compass/Compass.cpp index f48a0b0362..9bec08e532 100644 --- a/libraries/AP_Compass/Compass.cpp +++ b/libraries/AP_Compass/Compass.cpp @@ -351,15 +351,13 @@ Compass::_detect_backends(void) #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE _add_backend(AP_Compass_HMC5843::detect); - _add_backend(AP_Compass_AK8963_MPU9250::detect); + _add_backend(AP_Compass_AK8963::detect); #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL _add_backend(AP_Compass_HIL::detect); #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843 _add_backend(AP_Compass_HMC5843::detect); #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN _add_backend(AP_Compass_PX4::detect); -#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250 - _add_backend(AP_Compass_AK8963_MPU9250::detect); #else #error Unrecognised HAL_COMPASS_TYPE setting #endif