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AP_BoardConfig: setup FMUv5 for board detection

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This commit is contained in:
Andrew Tridgell 2018-05-29 21:43:01 +10:00
parent 01f5d1a17c
commit 751f290be6
2 changed files with 7 additions and 2 deletions
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5
libraries/AP_BoardConfig/AP_BoardConfig.h
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@ -8,13 +8,13 @@
#include <AP_Param_Helper/AP_Param_Helper.h>
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_MINDPXV2)
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_FMUV5) || defined(HAL_CHIBIOS_ARCH_MINDPXV2)
#define AP_FEATURE_BOARD_DETECT 1
#else
#define AP_FEATURE_BOARD_DETECT 0
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_MINDPXV2) || defined(HAL_GPIO_PIN_SAFETY_IN)
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_FMUV5) || defined(HAL_CHIBIOS_ARCH_MINDPXV2) || defined(HAL_GPIO_PIN_SAFETY_IN)
#define AP_FEATURE_SAFETY_BUTTON 1
#else
#define AP_FEATURE_SAFETY_BUTTON 0
@ -90,6 +90,7 @@ public:
PX4_BOARD_PCNC1 = 21,
PX4_BOARD_MINDPXV2 = 22,
PX4_BOARD_SP01 = 23,
PX4_BOARD_FMUV5 = 24,
VRX_BOARD_BRAIN51 = 30,
VRX_BOARD_BRAIN52 = 32,
VRX_BOARD_BRAIN52E = 33,

4
libraries/AP_BoardConfig/board_drivers.cpp
View File

@ -88,6 +88,7 @@ void AP_BoardConfig::board_setup_drivers(void)
case PX4_BOARD_PX4V1:
case PX4_BOARD_PIXHAWK:
case PX4_BOARD_PIXHAWK2:
case PX4_BOARD_FMUV5:
case PX4_BOARD_SP01:
case PX4_BOARD_PIXRACER:
case PX4_BOARD_PHMINI:
@ -239,6 +240,9 @@ void AP_BoardConfig::board_autodetect(void)
#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
state.board_type.set_and_notify(PX4_BOARD_AEROFC);
hal.console->printf("Detected Aero FC\n");
#elif defined(HAL_CHIBIOS_ARCH_FMUV5)
state.board_type.set_and_notify(PX4_BOARD_FMUV5);
hal.console->printf("Detected FMUv5\n");
#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
state.board_type.set_and_notify(VRX_BOARD_BRAIN51);
hal.console->printf("Detected VR Brain 5.1\n");