From 3fc095589c4f543ea66a82f8ae20f3a132c23806 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 10 Jan 2018 21:34:50 +1100 Subject: [PATCH] AP_InertialSensor: support ChibiOS FMUv4 --- libraries/AP_InertialSensor/AP_InertialSensor.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp index 1cf020240a..4d640292f7 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp @@ -709,8 +709,7 @@ AP_InertialSensor::detect_backends(void) #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.spi->get_device(HAL_INS_MPU9250_NAME))); -#elif defined(HAL_CHIBIOS_ARCH_FMUV3) || HAL_INS_DEFAULT == HAL_INS_PX4 || HAL_INS_DEFAULT == HAL_INS_VRBRAIN - +#elif AP_FEATURE_BOARD_DETECT switch (AP_BoardConfig::get_board_type()) { case AP_BoardConfig::PX4_BOARD_PX4V1: _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));