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AP_Compass: support new sensor config setup

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This commit is contained in:
Andrew Tridgell 2019-05-29 21:01:33 +10:00
parent f7b9368b94
commit 481ae22671
1 changed files with 6 additions and 13 deletions
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15
libraries/AP_Compass/AP_Compass.cpp
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@ -748,7 +748,10 @@ void Compass::_detect_backends(void)
} }
#endif #endif
#if HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL #if defined(HAL_MAG_PROBE_LIST)
// driver probes defined by COMPASS lines in hwdef.dat
HAL_MAG_PROBE_LIST;
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
ADD_BACKEND(DRIVER_SITL, AP_Compass_HIL::detect()); ADD_BACKEND(DRIVER_SITL, AP_Compass_HIL::detect());
#elif AP_FEATURE_BOARD_DETECT #elif AP_FEATURE_BOARD_DETECT
switch (AP_BoardConfig::get_board_type()) { switch (AP_BoardConfig::get_board_type()) {
@ -758,7 +761,6 @@ void Compass::_detect_backends(void)
case AP_BoardConfig::PX4_BOARD_AUAV21: case AP_BoardConfig::PX4_BOARD_AUAV21:
case AP_BoardConfig::PX4_BOARD_PH2SLIM: case AP_BoardConfig::PX4_BOARD_PH2SLIM:
case AP_BoardConfig::PX4_BOARD_PIXHAWK2: case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
case AP_BoardConfig::PX4_BOARD_PIXRACER:
case AP_BoardConfig::PX4_BOARD_MINDPXV2: case AP_BoardConfig::PX4_BOARD_MINDPXV2:
case AP_BoardConfig::PX4_BOARD_FMUV5: case AP_BoardConfig::PX4_BOARD_FMUV5:
case AP_BoardConfig::PX4_BOARD_FMUV6: case AP_BoardConfig::PX4_BOARD_FMUV6:
@ -831,15 +833,6 @@ void Compass::_detect_backends(void)
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1, ROTATION_NONE)); ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1, ROTATION_NONE));
break; break;
case AP_BoardConfig::PX4_BOARD_PIXRACER:
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
false, ROTATION_PITCH_180));
// R15 has LIS3MDL on spi bus instead of HMC; same CS pin
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME),
false, ROTATION_NONE));
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180_YAW_90));
break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO: case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180_YAW_90)); ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180_YAW_90));
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME), ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME),