mirror of https://github.com/ArduPilot/ardupilot
AP_InertialSensor: use in-tree drivers for PH2SLIM
This commit is contained in:
parent
c68a6451cb
commit
cb70bae167
|
@ -698,6 +698,8 @@ AP_InertialSensor::detect_backends(void)
|
|||
// PHMINI uses ICM20608 on the ACCEL_MAG device and a MPU9250 on the old MPU6000 CS line
|
||||
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_ICM20608_AM_NAME), ROTATION_ROLL_180));
|
||||
_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), false, ROTATION_ROLL_180));
|
||||
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PH2SLIM) {
|
||||
_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), true, ROTATION_YAW_270));
|
||||
}
|
||||
// also add any PX4 backends (eg. canbus sensors)
|
||||
_add_backend(AP_InertialSensor_PX4::detect(*this));
|
||||
|
|
Loading…
Reference in New Issue