From b86513f503e78aae8bcb02c6099eadee1024e5fb Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 1 Mar 2017 12:42:29 +1100 Subject: [PATCH] AP_InertialSensor: support AUAV21 board --- libraries/AP_InertialSensor/AP_InertialSensor.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp index b494c92ecf..4f9bd3fecd 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp @@ -730,6 +730,13 @@ AP_InertialSensor::detect_backends(void) _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180)); break; + case AP_BoardConfig::PX4_BOARD_AUAV21: + // AUAV2.1 uses ICM20608 on the ACCEL_MAG device and a MPU9250 on the old MPU6000 CS line + _fast_sampling_mask.set_default(3); + _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_ICM20608_AM_NAME), ROTATION_ROLL_180_YAW_90)); + _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180_YAW_90)); + break; + case AP_BoardConfig::PX4_BOARD_PH2SLIM: _fast_sampling_mask.set_default(1); _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_YAW_270));