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AP_InertialSensor: support ChibiOS

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This commit is contained in:
Andrew Tridgell 2018-01-05 18:08:10 +11:00
parent 391affc02d
commit 39362a81ae
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -709,7 +709,7 @@ AP_InertialSensor::detect_backends(void)
#elif HAL_INS_DEFAULT == HAL_INS_BH #elif HAL_INS_DEFAULT == HAL_INS_BH
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU60x0_I2C_BUS, HAL_INS_MPU60x0_I2C_ADDR))); _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU60x0_I2C_BUS, HAL_INS_MPU60x0_I2C_ADDR)));
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME))); _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
#elif HAL_INS_DEFAULT == HAL_INS_PX4 || HAL_INS_DEFAULT == HAL_INS_VRBRAIN #elif defined(HAL_CHIBIOS_ARCH_FMUV3) || HAL_INS_DEFAULT == HAL_INS_PX4 || HAL_INS_DEFAULT == HAL_INS_VRBRAIN
switch (AP_BoardConfig::get_board_type()) { switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PX4V1: case AP_BoardConfig::PX4_BOARD_PX4V1:
@ -778,8 +778,10 @@ AP_InertialSensor::detect_backends(void)
default: default:
break; break;
} }
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
// also add any PX4 backends (eg. canbus sensors) // also add any PX4 backends (eg. canbus sensors)
_add_backend(AP_InertialSensor_PX4::detect(*this)); _add_backend(AP_InertialSensor_PX4::detect(*this));
#endif
#elif HAL_INS_DEFAULT == HAL_INS_MPU9250_SPI && defined(HAL_INS_DEFAULT_ROTATION) #elif HAL_INS_DEFAULT == HAL_INS_MPU9250_SPI && defined(HAL_INS_DEFAULT_ROTATION)
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), HAL_INS_DEFAULT_ROTATION)); _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), HAL_INS_DEFAULT_ROTATION));
#elif HAL_INS_DEFAULT == HAL_INS_MPU9250_SPI #elif HAL_INS_DEFAULT == HAL_INS_MPU9250_SPI