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AP_InertialSensor: fix duplicate sensor detection for AUX sensors

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bugobliterator 2023-03-22 16:46:41 +11:00 committed by Andrew Tridgell
parent f88db74356
commit b9e9d4cc4f
1 changed files with 26 additions and 0 deletions
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26
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -1074,8 +1074,34 @@ AP_InertialSensor::detect_backends(void)
probe_count++; \
} while (0)
// Can be used by adding INSTANCE:<num> keyword in hwdef.
// This keyword is used to denote the instance number of the sensor
// while probing. Probing is skipped if the instance number doesn't match the
// backend count. Its important the IMUs are listed in order of precedence globally
// (i.e. INSTANCE:0 IMUs are listed before INSTANCE:1 IMUs) and locally (i.e. IMUs
// on the same bus are listed in order of detection precedence)
#define ADD_BACKEND_INSTANCE(x, instance) if (instance == _backend_count) { ADD_BACKEND(x); }
// Can be used by adding AUX:<devid> keyword in hwdef.
// AUX:<devid> keyword is used to check for the presence of the sensor
// in the detected IMUs list. If the IMU with the given devid is found
// then we skip the probe for the sensor the second time. This is useful
// if you have multiple choices for IMU over same instance number, and still
// want to instantiate the sensor after main IMUs are detected.
#define ADD_BACKEND_AUX(x, devid) do { \
bool init_aux = true; \
for (uint8_t i=0; i<_backend_count; i++) { \
if (((uint32_t)_accel_id(i) == devid) || ((uint32_t)_gyro_id(i) == devid)) { \
init_aux = false; \
} \
} \
if (init_aux) { \
ADD_BACKEND(x); \
} \
} while (0)
// support for adding IMUs conditioned on board type
#define BOARD_MATCH(board_type) AP_BoardConfig::get_board_type()==AP_BoardConfig::board_type
#define ADD_BACKEND_BOARD_MATCH(board_match, x) do { if (board_match) { ADD_BACKEND(x); } } while(0)