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AP_Compass: probe DroneCAN compasses before I2C 

it is highly likely that a user with a DroneCAN compass will want it
to be earlier in the dev list than i2c or spi compasses
This commit is contained in:
Andrew Tridgell 2023-10-28 11:33:07 +11:00
parent 36de6613fb
commit 422d7cec6e
1 changed files with 9 additions and 4 deletions
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13
libraries/AP_Compass/AP_Compass.cpp
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@ -1307,6 +1307,13 @@ void Compass::_detect_backends(void)
ADD_BACKEND(DRIVER_SITL, new AP_Compass_SITL());
#endif
#if AP_COMPASS_DRONECAN_ENABLED
// probe DroneCAN before I2C and SPI so that DroneCAN compasses
// default to first in the list for a new board
probe_dronecan_compasses();
CHECK_UNREG_LIMIT_RETURN;
#endif
#ifdef HAL_PROBE_EXTERNAL_I2C_COMPASSES
// allow boards to ask for external probing of all i2c compass types in hwdef.dat
_probe_external_i2c_compasses();
@ -1321,12 +1328,10 @@ void Compass::_detect_backends(void)
}
#endif
// finally look for i2c and spi compasses not found yet
CHECK_UNREG_LIMIT_RETURN;
probe_i2c_spi_compasses();
#if AP_COMPASS_DRONECAN_ENABLED
probe_dronecan_compasses();
#endif
if (_backend_count == 0 ||
_compass_count == 0) {
DEV_PRINTF("No Compass backends available\n");