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AP_InertialSensor: support ChibiOS FMUv4

This commit is contained in:
Andrew Tridgell 2018-01-10 21:34:50 +11:00
parent a2681f1d1c
commit 3fc095589c
1 changed files with 1 additions and 2 deletions
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3
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -709,8 +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 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()) { switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PX4V1: case AP_BoardConfig::PX4_BOARD_PX4V1:
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME))); _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));