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AP_Compass: support ChibiOS

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This commit is contained in:
Andrew Tridgell 2018-01-05 18:05:11 +11:00
parent c8c563f90d
commit 5d9fa7f85b
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_Compass/AP_Compass.cpp
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@ -560,7 +560,7 @@ void Compass::_detect_backends(void)
#if HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
ADD_BACKEND(DRIVER_SITL, AP_Compass_HIL::detect(*this), nullptr, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3)
switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PX4V1:
case AP_BoardConfig::PX4_BOARD_PIXHAWK:
@ -802,6 +802,9 @@ void Compass::_detect_backends(void)
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m")),
AP_Compass_LSM9DS1::name, false);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(*this, hal.i2c_mgr->get_device(0, 0x10)),
AP_Compass_BMM150::name, true);
#else
#error Unrecognised HAL_COMPASS_TYPE setting
#endif