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AP_RangeFinder: maxbotix: use i2c-address parameter

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This commit is contained in:
Peter Barker 2020-06-19 11:25:39 +10:00 committed by Andrew Tridgell
parent 5e00f5ae48
commit 78b49a2c35
1 changed files with 7 additions and 2 deletions
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9
libraries/AP_RangeFinder/AP_RangeFinder.cpp
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@ -350,15 +350,20 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
}
}
break;
case Type::MBI2C:
case Type::MBI2C: {
uint8_t addr = AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR;
if (params[instance].address != 0) {
addr = params[instance].address;
}
FOREACH_I2C(i) {
if (_add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(state[instance], params[instance],
hal.i2c_mgr->get_device(i, AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR)),
hal.i2c_mgr->get_device(i, addr)),
instance)) {
break;
}
}
break;
}
case Type::LWI2C:
if (params[instance].address) {
// the LW20 needs a long time to boot up, so we delay 1.5s here