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VRBRAIN / AP_InertialSensor: added inertial sensors init for VR Brain boards

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LukeMike 2018-02-03 14:56:40 +01:00 committed by Andrew Tridgell
parent 432f6c2a4a
commit 502f19cbae
1 changed files with 18 additions and 0 deletions
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18
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -817,6 +817,24 @@ AP_InertialSensor::detect_backends(void)
ROTATION_YAW_90));
break;
case AP_BoardConfig::VRX_BOARD_BRAIN54:
_fast_sampling_mask.set_default(7);
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME), ROTATION_YAW_180));
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_EXT_NAME), ROTATION_YAW_180));
#ifdef HAL_INS_MPU60x0_IMU_NAME
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_IMU_NAME), ROTATION_YAW_180));
#endif
break;
case AP_BoardConfig::VRX_BOARD_BRAIN51:
case AP_BoardConfig::VRX_BOARD_BRAIN52:
case AP_BoardConfig::VRX_BOARD_BRAIN52E:
case AP_BoardConfig::VRX_BOARD_CORE10:
case AP_BoardConfig::VRX_BOARD_UBRAIN51:
case AP_BoardConfig::VRX_BOARD_UBRAIN52:
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME), ROTATION_YAW_180));
break;
default:
break;
}