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AP_InertialSensor: support AUAV21 board

This commit is contained in:
Andrew Tridgell 2017-03-01 12:42:29 +11:00 committed by Randy Mackay
parent 37c9e08316
commit b86513f503
1 changed files with 7 additions and 0 deletions
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7
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -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)); _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180));
break; 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: case AP_BoardConfig::PX4_BOARD_PH2SLIM:
_fast_sampling_mask.set_default(1); _fast_sampling_mask.set_default(1);
_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));