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AP_InertialSensor: add ppro support

This commit is contained in:
Kevin Lopez Alvarez 2017-07-15 15:13:44 +10:00 committed by Andrew Tridgell
parent 88958b2dbf
commit ca3627c140
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -726,6 +726,12 @@ AP_InertialSensor::detect_backends(void)
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180_YAW_90)); _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180_YAW_90));
break; break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:
_fast_sampling_mask.set_default(3);
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_ICM20608_NAME), ROTATION_ROLL_180_YAW_90));
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180_YAW_90));
break;
case AP_BoardConfig::PX4_BOARD_PHMINI: case AP_BoardConfig::PX4_BOARD_PHMINI:
// PHMINI uses ICM20608 on the ACCEL_MAG device and a MPU9250 on the old MPU6000 CS line // PHMINI uses ICM20608 on the ACCEL_MAG device and a MPU9250 on the old MPU6000 CS line
_fast_sampling_mask.set_default(3); _fast_sampling_mask.set_default(3);