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AP_InertialSensor: detect two IMUs on FMUv5

This commit is contained in:
Andrew Tridgell 2018-05-29 21:44:04 +10:00
parent 0047807fbf
commit bfa66c9397
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -739,6 +739,12 @@ AP_InertialSensor::detect_backends(void)
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_YAW_270));
break;
case AP_BoardConfig::PX4_BOARD_FMUV5:
_fast_sampling_mask.set_default(1);
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("icm20689"), ROTATION_NONE));
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("icm20602"), ROTATION_NONE));
break;
case AP_BoardConfig::PX4_BOARD_SP01:
_fast_sampling_mask.set_default(1);
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_EXT_NAME), ROTATION_NONE));