Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 15:23:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Compass: allow for in-tree drivers for PX4

Browse Source
This commit is contained in:
Andrew Tridgell 2016-11-01 12:20:31 +11:00
parent 72c2e3a4d5
commit 7bd52eb112
1 changed files with 9 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AP_Compass/AP_Compass.cpp
View File

@ -3,6 +3,7 @@
#include <AP_HAL_Linux/I2CDevice.h>
#endif
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include "AP_Compass_AK8963.h"
#include "AP_Compass_Backend.h"
@ -491,6 +492,14 @@ void Compass::_detect_backends(void)
#if HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
_add_backend(AP_Compass_HIL::detect(*this), nullptr, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V1 ||
AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V2 ||
AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V4) {
// use in-tree driver
_add_backend(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
}
// also add any px4 level drivers (for canbus magnetometers)
_add_backend(AP_Compass_PX4::detect(*this), nullptr, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QURT
_add_backend(AP_Compass_QURT::detect(*this), nullptr, false);