mirror of https://github.com/ArduPilot/ardupilot
AP_InertialSensor: support ChibiOS FMUv4
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a2681f1d1c
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3fc095589c
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@ -709,8 +709,7 @@ AP_InertialSensor::detect_backends(void)
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#elif HAL_INS_DEFAULT == HAL_INS_BH
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#elif HAL_INS_DEFAULT == HAL_INS_BH
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_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU60x0_I2C_BUS, HAL_INS_MPU60x0_I2C_ADDR)));
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_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU60x0_I2C_BUS, HAL_INS_MPU60x0_I2C_ADDR)));
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_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
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_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
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#elif defined(HAL_CHIBIOS_ARCH_FMUV3) || HAL_INS_DEFAULT == HAL_INS_PX4 || HAL_INS_DEFAULT == HAL_INS_VRBRAIN
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#elif AP_FEATURE_BOARD_DETECT
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switch (AP_BoardConfig::get_board_type()) {
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switch (AP_BoardConfig::get_board_type()) {
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case AP_BoardConfig::PX4_BOARD_PX4V1:
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case AP_BoardConfig::PX4_BOARD_PX4V1:
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_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
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_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
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