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AP_InertialSensor: always allow for AK8963 on MPU9250

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This commit is contained in:
Andrew Tridgell 2015-03-13 16:30:26 +11:00
parent d040318014
commit 520c7c1306
1 changed files with 0 additions and 12 deletions
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12
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
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@ -421,11 +421,6 @@ bool AP_InertialSensor_MPU9250::_hardware_init(void)
// Chip reset // Chip reset
uint8_t tries; uint8_t tries;
for (tries = 0; tries<5; tries++) { for (tries = 0; tries<5; tries++) {
#if HAL_COMPASS_DEFAULT != HAL_COMPASS_AK8963_MPU9250
/* Prevent reseting if internal AK8963 is selected, because it may corrupt
* AK8963's initialisation. */
_register_write(MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_DEVICE_RESET);
#endif
hal.scheduler->delay(100); hal.scheduler->delay(100);
// Wake up device and select GyroZ clock. Note that the // Wake up device and select GyroZ clock. Note that the
@ -450,13 +445,6 @@ bool AP_InertialSensor_MPU9250::_hardware_init(void)
_register_write(MPUREG_PWR_MGMT_2, 0x00); // only used for wake-up in accelerometer only low power mode _register_write(MPUREG_PWR_MGMT_2, 0x00); // only used for wake-up in accelerometer only low power mode
// Disable I2C bus (recommended on datasheet)
#if HAL_COMPASS_DEFAULT != HAL_COMPASS_AK8963_MPU9250
/* Prevent disabling if internal AK8963 is selected. If internal AK8963 is not used
* it's ok to disable I2C slaves*/
_register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_I2C_IF_DIS);
#endif
// used no filter of 256Hz on the sensor, then filter using // used no filter of 256Hz on the sensor, then filter using
// the 2-pole software filter // the 2-pole software filter
_register_write(MPUREG_CONFIG, BITS_DLPF_CFG_256HZ_NOLPF2); _register_write(MPUREG_CONFIG, BITS_DLPF_CFG_256HZ_NOLPF2);