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https://github.com/ArduPilot/ardupilot
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AP_Compass: support ChibiOS FMUv4
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@ -534,7 +534,7 @@ void Compass::_detect_backends(void)
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return;
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return;
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}
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#if AP_FEATURE_BOARD_DETECT
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if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2) {
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if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2) {
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// default to disabling LIS3MDL on pixhawk2 due to hardware issue
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// default to disabling LIS3MDL on pixhawk2 due to hardware issue
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_driver_type_mask.set_default(1U<<DRIVER_LIS3MDL);
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_driver_type_mask.set_default(1U<<DRIVER_LIS3MDL);
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@ -560,7 +560,7 @@ void Compass::_detect_backends(void)
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#if HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
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#if HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
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ADD_BACKEND(DRIVER_SITL, AP_Compass_HIL::detect(*this), nullptr, false);
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ADD_BACKEND(DRIVER_SITL, AP_Compass_HIL::detect(*this), nullptr, false);
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#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3)
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#elif AP_FEATURE_BOARD_DETECT
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switch (AP_BoardConfig::get_board_type()) {
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switch (AP_BoardConfig::get_board_type()) {
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case AP_BoardConfig::PX4_BOARD_PX4V1:
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case AP_BoardConfig::PX4_BOARD_PX4V1:
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case AP_BoardConfig::PX4_BOARD_PIXHAWK:
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case AP_BoardConfig::PX4_BOARD_PIXHAWK:
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