From 8b80beadc470fd179110762201d5dd906db45f1b Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 8 Sep 2013 14:30:20 +1000 Subject: [PATCH] PX4: make FMUv2 identify itself differently so we can tell which is which in logs --- libraries/AP_Common/AP_Common.h | 1 + libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp | 4 ++++ 2 files changed, 5 insertions(+) diff --git a/libraries/AP_Common/AP_Common.h b/libraries/AP_Common/AP_Common.h index a0b5fec394..a8f5ff6edb 100644 --- a/libraries/AP_Common/AP_Common.h +++ b/libraries/AP_Common/AP_Common.h @@ -111,6 +111,7 @@ struct Location { #define AP_PRODUCT_ID_APM1_2560 0x02 // APM1 with 2560 CPUs #define AP_PRODUCT_ID_SITL 0x03 // Software in the loop #define AP_PRODUCT_ID_PX4 0x04 // PX4 on NuttX +#define AP_PRODUCT_ID_PX4_V2 0x05 // PX4 FMU2 on NuttX #define AP_PRODUCT_ID_APM2ES_REV_C4 0x14 // APM2 with MPU6000ES_REV_C4 #define AP_PRODUCT_ID_APM2ES_REV_C5 0x15 // APM2 with MPU6000ES_REV_C5 #define AP_PRODUCT_ID_APM2ES_REV_D6 0x16 // APM2 with MPU6000ES_REV_D6 diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp index 734ece90be..2e6cb92cd6 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp @@ -67,7 +67,11 @@ uint16_t AP_InertialSensor_PX4::_init_sensor( Sample_rate sample_rate ) _set_filter_frequency(_mpu6000_filter); +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) + return AP_PRODUCT_ID_PX4_V2; +#else return AP_PRODUCT_ID_PX4; +#endif } /*