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

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Francisco Ferreira 2017-09-23 20:25:32 +01:00
parent 7e5f98b535
commit bb46eaedaa
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1 changed files with 8 additions and 0 deletions
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8
libraries/AP_RangeFinder/RangeFinder.cpp
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@ -618,8 +618,16 @@ void RangeFinder::detect_instance(uint8_t instance)
break; break;
case RangeFinder_TYPE_LWI2C: case RangeFinder_TYPE_LWI2C:
if (state[instance].address) { if (state[instance].address) {
#ifdef HAL_RANGEFINDER_LIGHTWARE_I2C_BUS
_add_backend(AP_RangeFinder_LightWareI2C::detect(state[instance], _add_backend(AP_RangeFinder_LightWareI2C::detect(state[instance],
hal.i2c_mgr->get_device(HAL_RANGEFINDER_LIGHTWARE_I2C_BUS, state[instance].address))); 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; break;
case RangeFinder_TYPE_TRI2C: case RangeFinder_TYPE_TRI2C: