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AP_InertialSensor: added SP01 board type

This commit is contained in:
Andrew Tridgell 2018-02-14 16:36:14 +11:00
parent f61591c426
commit b61caa9c57
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -775,6 +775,12 @@ 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_SP01:
_fast_sampling_mask.set_default(1);
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_EXT_NAME), ROTATION_NONE));
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_NONE));
break;
case AP_BoardConfig::PX4_BOARD_PIXRACER: case AP_BoardConfig::PX4_BOARD_PIXRACER:
// only do fast samplng on ICM-20608. The MPU9250 doesn't handle high rate well when it has a mag enabled // only do fast samplng on ICM-20608. The MPU9250 doesn't handle high rate well when it has a mag enabled
_fast_sampling_mask.set_default(1); _fast_sampling_mask.set_default(1);