From 428919065434c73188e8304f6ebc7d62e95a0dcd Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 8 Dec 2017 09:40:53 +1100 Subject: [PATCH] HAL_PX4: added LIS3MDL on FMUv4 --- libraries/AP_HAL_PX4/SPIDevice.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/libraries/AP_HAL_PX4/SPIDevice.cpp b/libraries/AP_HAL_PX4/SPIDevice.cpp index bc410c76be..e0bc4c8a12 100644 --- a/libraries/AP_HAL_PX4/SPIDevice.cpp +++ b/libraries/AP_HAL_PX4/SPIDevice.cpp @@ -84,6 +84,10 @@ SPIDesc SPIDeviceManager::device_table[] = { #endif #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V4 SPIDesc("ms5611_int", PX4_SPI_BUS_BARO, (spi_dev_e)PX4_SPIDEV_BARO, SPIDEV_MODE3, 20*MHZ, 20*MHZ), +#ifdef PX4_SPIDEV_HMC + // r15 has LIS3MDL in place of HMC + SPIDesc("lis3mdl", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_HMC, SPIDEV_MODE3, 500*KHZ, 500*KHZ), +#endif #endif #ifdef PX4_SPIDEV_BARO SPIDesc("ms5611", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_BARO, SPIDEV_MODE3, 20*MHZ, 20*MHZ),