Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Rangefinder: look in buses 0/1 when Lightware I2C bus isn't defined

Browse Source
This commit is contained in:
Francisco Ferreira 2017-09-23 20:25:32 +01:00
parent 7e5f98b535
commit bb46eaedaa
No known key found for this signature in database
GPG Key ID: F63C20A6773E787E
1 changed files with 8 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_RangeFinder/RangeFinder.cpp
View File

@ -618,8 +618,16 @@ void RangeFinder::detect_instance(uint8_t instance)
break;
case RangeFinder_TYPE_LWI2C:
if (state[instance].address) {
#ifdef HAL_RANGEFINDER_LIGHTWARE_I2C_BUS
_add_backend(AP_RangeFinder_LightWareI2C::detect(state[instance],
hal.i2c_mgr->get_device(HAL_RANGEFINDER_LIGHTWARE_I2C_BUS, state[instance].address)));
#else
if (!_add_backend(AP_RangeFinder_LightWareI2C::detect(state[instance],
hal.i2c_mgr->get_device(1, state[instance].address)))) {
_add_backend(AP_RangeFinder_LightWareI2C::detect(state[instance],
hal.i2c_mgr->get_device(0, state[instance].address)));
}
#endif
}
break;
case RangeFinder_TYPE_TRI2C: