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AP_InertialSensor: use BMI160 for Intel Aero

This commit is contained in:
Gustavo Jose de Sousa 2016-06-23 12:30:54 -03:00 committed by Lucas De Marchi
parent 025082b280
commit 68fe536da3
2 changed files with 18 additions and 1 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -567,6 +567,14 @@ AP_InertialSensor::detect_backends(void)
} else {
hal.console->printf("MPU9250: External IMU not detected\n");
}
#elif HAL_INS_DEFAULT == HAL_INS_AERO
auto *backend = AP_InertialSensor_BMI160::probe(*this,
hal.spi->get_device("bmi160"));
if (backend) {
_add_backend(backend);
} else {
hal.console->printf("aero: onboard IMU not detected\n");
}
#else
#error Unrecognised HAL_INS_TYPE setting
#endif

11
libraries/AP_InertialSensor/AP_InertialSensor_BMI160.cpp
View File

@ -99,7 +99,11 @@
#define BMI160_READ_FLAG 0x80
#define BMI160_HARDWARE_INIT_MAX_TRIES 5
#define BMI160_INT1_GPIO -1
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
# define BMI160_INT1_GPIO AERO_GPIO_BMI160_INT1
#else
# define BMI160_INT1_GPIO -1
#endif
extern const AP_HAL::HAL& hal;
@ -384,6 +388,11 @@ read_fifo_read_data:
(float)(int16_t)le16toh(raw_data[i].gyro.y),
(float)(int16_t)le16toh(raw_data[i].gyro.z)};
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
accel.rotate(ROTATION_ROLL_180);
gyro.rotate(ROTATION_ROLL_180);
#endif
accel *= _accel_scale;
gyro *= _gyro_scale;