Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_InertialSensor: Add second MPU9250 autodetection to BBBmini

This commit is contained in:
mirkix 2016-04-24 10:24:37 +02:00 committed by Lucas De Marchi
parent 3df5a02448
commit c3a6a56ebb
1 changed files with 16 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -555,6 +555,22 @@ AP_InertialSensor::detect_backends(void)
_add_backend(AP_InertialSensor_QFLIGHT::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_QURT
_add_backend(AP_InertialSensor_QURT::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_BBBMINI
AP_InertialSensor_Backend *backend = AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME));
if (backend) {
_add_backend(backend);
hal.console->printf("MPU9250: Onboard IMU detected\n");
} else {
hal.console->printf("MPU9250: Onboard IMU not detected\n");
}
backend = AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME_EXT));
if (backend) {
_add_backend(backend);
hal.console->printf("MPU9250: External IMU detected\n");
} else {
hal.console->printf("MPU9250: External IMU not detected\n");
}
#else
#error Unrecognised HAL_INS_TYPE setting
#endif