From 614592448162ab06566fd761a1b2ad3ee1b9f443 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 8 Oct 2013 11:49:43 +1100 Subject: [PATCH] Copter: switch Linux to L3G4200D ins driver --- ArduCopter/ArduCopter.pde | 2 ++ ArduCopter/config.h | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index d51e03f72b..5cbd5f16c5 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -229,6 +229,8 @@ static AP_InertialSensor_HIL ins; static AP_InertialSensor_PX4 ins; #elif CONFIG_IMU_TYPE == CONFIG_IMU_FLYMAPLE AP_InertialSensor_Flymaple ins; +#elif CONFIG_IMU_TYPE == CONFIG_IMU_L3G4200D +AP_InertialSensor_L3G4200D ins; #endif #if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 4e519c1c82..32c59d0818 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -82,7 +82,7 @@ # define MAGNETOMETER ENABLED # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX - # define CONFIG_IMU_TYPE CONFIG_IMU_SITL + # define CONFIG_IMU_TYPE CONFIG_IMU_L3G4200D # define CONFIG_BARO AP_BARO_BMP085 # define CONFIG_COMPASS AP_COMPASS_HMC5843 # define CONFIG_ADC DISABLED