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AP_InertialSensor: Add second MPU9250 autodetection to BBBmini

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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
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16
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -555,6 +555,22 @@ AP_InertialSensor::detect_backends(void)
_add_backend(AP_InertialSensor_QFLIGHT::detect(*this)); _add_backend(AP_InertialSensor_QFLIGHT::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_QURT #elif HAL_INS_DEFAULT == HAL_INS_QURT
_add_backend(AP_InertialSensor_QURT::detect(*this)); _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 #else
#error Unrecognised HAL_INS_TYPE setting #error Unrecognised HAL_INS_TYPE setting
#endif #endif