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AP_InertialSensor: allow for in-tree drivers for PX4

This commit is contained in:
Andrew Tridgell 2016-11-01 21:34:59 +11:00
parent 7bd52eb112
commit 7832f1a1b6
1 changed files with 12 additions and 0 deletions
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12
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -7,6 +7,7 @@
#include <AP_Math/AP_Math.h>
#include <AP_Notify/AP_Notify.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include "AP_InertialSensor.h"
#include "AP_InertialSensor_BMI160.h"
@ -587,6 +588,17 @@ AP_InertialSensor::detect_backends(void)
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU60x0_I2C_BUS, HAL_INS_MPU60x0_I2C_ADDR)));
_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
#elif HAL_INS_DEFAULT == HAL_INS_PX4 || HAL_INS_DEFAULT == HAL_INS_VRBRAIN
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V1) {
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V2) {
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
_add_backend(AP_InertialSensor_LSM9DS0::probe(*this,
hal.spi->get_device(HAL_INS_LSM9DS0_G_NAME),
hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)));
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V4) {
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
}
// also add any PX4 backends (eg. canbus sensors)
_add_backend(AP_InertialSensor_PX4::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_MPU9250_SPI
_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));