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AP_Compass: fixed MindPX-v2 compass orientations

This commit is contained in:
Andrew Tridgell 2018-01-12 12:16:53 +11:00
parent 8ab35e8aca
commit 8e87c30a33
1 changed files with 15 additions and 4 deletions
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19
libraries/AP_Compass/AP_Compass.cpp
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@ -576,10 +576,13 @@ void Compass::_detect_backends(void)
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true);
// internal i2c bus
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_HMC5843_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_ROLL_180:ROTATION_YAW_270),
AP_Compass_HMC5843::name, both_i2c_external);
if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_MINDPXV2) {
// internal i2c bus
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_HMC5843_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_ROLL_180:ROTATION_YAW_270),
AP_Compass_HMC5843::name, both_i2c_external);
}
//external i2c bus
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_QMC5883L_I2C_ADDR),
@ -708,6 +711,14 @@ void Compass::_detect_backends(void)
AP_Compass_AK8963::name, false);
break;
case AP_BoardConfig::PX4_BOARD_MINDPXV2:
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_HMC5843_I2C_ADDR),
false, ROTATION_YAW_90),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), ROTATION_PITCH_180_YAW_270),
AP_Compass_LSM303D::name, false);
break;
default:
break;
}