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AP_InertialSensor: use MPU6500 on aerofc

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This commit is contained in:
Lucas De Marchi 2017-02-06 15:50:48 -08:00 committed by Andrew Tridgell
parent b4d0569339
commit 87846fe049
2 changed files with 5 additions and 0 deletions
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1
libraries/AP_HAL_PX4/SPIDevice.cpp
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@ -83,6 +83,7 @@ SPIDesc SPIDeviceManager::device_table[] = {
#endif #endif
#if defined(PX4_SPIDEV_MPU) #if defined(PX4_SPIDEV_MPU)
SPIDesc("mpu9250", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_MPU, SPIDEV_MODE3, 1*MHZ, 8*MHZ), SPIDesc("mpu9250", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_MPU, SPIDEV_MODE3, 1*MHZ, 8*MHZ),
SPIDesc("mpu6500", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_MPU, SPIDEV_MODE3, 1*MHZ, 8*MHZ),
#endif #endif
#ifdef PX4_SPIDEV_EXT_MPU #ifdef PX4_SPIDEV_EXT_MPU
SPIDesc("mpu6000_ext", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_MPU, SPIDEV_MODE3, 500*KHZ, 8*MHZ), SPIDesc("mpu6000_ext", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_MPU, SPIDEV_MODE3, 500*KHZ, 8*MHZ),

4
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -742,6 +742,10 @@ AP_InertialSensor::detect_backends(void)
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_YAW_270)); _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_YAW_270));
break; break;
case AP_BoardConfig::PX4_BOARD_AEROFC:
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU6500_NAME), ROTATION_YAW_270));
break;
default: default:
break; break;
} }