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AP_Compass: enable lsm303d mag on FMUv2

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This commit is contained in:
Andrew Tridgell 2016-11-03 21:03:57 +11:00
parent 36190ba545
commit 2e4151d14e
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_Compass/AP_Compass.cpp
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@ -499,6 +499,10 @@ void Compass::_detect_backends(void)
_add_backend(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
}
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V2) {
_add_backend(AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)),
AP_Compass_LSM303D::name, false);
}
// also add any px4 level drivers (for canbus magnetometers)
_add_backend(AP_Compass_PX4::detect(*this), nullptr, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QURT