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AP_InertialSensor: use ICM backend for Edge

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Georgii Staroselskii 2017-10-18 20:07:59 +03:00 committed by Lucas De Marchi
parent 4e6fab228c
commit 4f2d8f8df4
1 changed files with 16 additions and 0 deletions
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16
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -774,6 +774,22 @@ AP_InertialSensor::detect_backends(void)
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), HAL_INS_DEFAULT_ROTATION));
#elif HAL_INS_DEFAULT == HAL_INS_MPU9250_SPI
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
#elif HAL_INS_DEFAULT == HAL_INS_EDGE
AP_InertialSensor_Backend *backend = AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME));
if (backend) {
_add_backend(backend);
hal.console->printf("First IMU detected\n");
} else {
hal.console->printf("First IMU not detected\n");
}
backend = AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME_EXT));
if (backend) {
_add_backend(backend);
hal.console->printf("Second IMU detected\n");
} else {
hal.console->printf("Second IMU not detected\n");
}
#elif HAL_INS_DEFAULT == HAL_INS_LSM9DS0
_add_backend(AP_InertialSensor_LSM9DS0::probe(*this,
hal.spi->get_device(HAL_INS_LSM9DS0_G_NAME),