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AP_HAL_ChibiOS: add support for raw imu publishing in AP_Periph

This commit is contained in:
bugobliterator 2024-10-13 13:58:54 +08:00 committed by Andrew Tridgell
parent 3e88173847
commit 830de73e58
2 changed files with 7 additions and 8 deletions
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5
libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_bootloader.h
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@ -15,11 +15,6 @@
#define HAL_GCS_ENABLED 0 #define HAL_GCS_ENABLED 0
#endif #endif
// by default bootloaders don't use INS:
#ifndef AP_INERTIALSENSOR_ENABLED
#define AP_INERTIALSENSOR_ENABLED 0
#endif
#define HAL_MAX_CAN_PROTOCOL_DRIVERS 0 #define HAL_MAX_CAN_PROTOCOL_DRIVERS 0
// bootloader does not save temperature cals etc: // bootloader does not save temperature cals etc:

10
libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
View File

@ -266,9 +266,12 @@
#define RANGEFINDER_MAX_INSTANCES 1 #define RANGEFINDER_MAX_INSTANCES 1
#endif #endif
// by default AP_Periphs don't use INS: #ifndef HAL_ADSB_ENABLED
#ifndef AP_INERTIALSENSOR_ENABLED #define HAL_ADSB_ENABLED 0
#define AP_INERTIALSENSOR_ENABLED 0 #endif
#ifndef AP_AIS_ENABLED
#define AP_AIS_ENABLED 0
#endif #endif
// no fence by default in AP_Periph: // no fence by default in AP_Periph:
@ -347,6 +350,7 @@
#define AP_RCPROTOCOL_ENABLED defined(HAL_PERIPH_ENABLE_RCIN) #define AP_RCPROTOCOL_ENABLED defined(HAL_PERIPH_ENABLE_RCIN)
#define AP_RTC_ENABLED defined(HAL_PERIPH_ENABLE_RTC) #define AP_RTC_ENABLED defined(HAL_PERIPH_ENABLE_RTC)
#define HAL_VISUALODOM_ENABLED defined(HAL_PERIPH_ENABLE_VISUALODOM) #define HAL_VISUALODOM_ENABLED defined(HAL_PERIPH_ENABLE_VISUALODOM)
#define AP_INERTIALSENSOR_ENABLED defined(HAL_PERIPH_ENABLE_IMU)
#ifndef AP_BOOTLOADER_ALWAYS_ERASE #ifndef AP_BOOTLOADER_ALWAYS_ERASE
#define AP_BOOTLOADER_ALWAYS_ERASE 1 #define AP_BOOTLOADER_ALWAYS_ERASE 1