Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Compass: setup for fmuv6

This commit is contained in:
Andrew Tridgell 2019-02-07 08:09:52 +11:00
parent c0e6338d8a
commit 7f3103073a
1 changed files with 4 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_Compass/AP_Compass.cpp
View File

@ -667,7 +667,8 @@ void Compass::_probe_external_i2c_compasses(void)
}
// IST8310 on external and internal bus
if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_FMUV5) {
if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_FMUV5 &&
AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_FMUV6) {
enum Rotation default_rotation;
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_AEROFC) {
@ -739,6 +740,7 @@ void Compass::_detect_backends(void)
case AP_BoardConfig::PX4_BOARD_PIXRACER:
case AP_BoardConfig::PX4_BOARD_MINDPXV2:
case AP_BoardConfig::PX4_BOARD_FMUV5:
case AP_BoardConfig::PX4_BOARD_FMUV6:
case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:
case AP_BoardConfig::PX4_BOARD_AEROFC:
_probe_external_i2c_compasses();
@ -792,6 +794,7 @@ void Compass::_detect_backends(void)
break;
case AP_BoardConfig::PX4_BOARD_FMUV5:
case AP_BoardConfig::PX4_BOARD_FMUV6:
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
true, ROTATION_ROLL_180_YAW_90));