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AP_Compass: fixed compass orientations on PH4

This commit is contained in:
Andrew Tridgell 2018-07-10 16:09:16 +10:00 committed by Randy Mackay
parent 260ac21e13
commit d9ba148083
1 changed files with 13 additions and 9 deletions
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22
libraries/AP_Compass/AP_Compass.cpp
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@ -657,12 +657,12 @@ void Compass::_detect_backends(void)
} }
// IST8310 on external and internal bus // IST8310 on external and internal bus
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_IST8310_I2C_ADDR),
true, ROTATION_PITCH_180), AP_Compass_IST8310::name, true);
}
if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_FMUV5) { if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_FMUV5) {
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_IST8310_I2C_ADDR),
true, ROTATION_PITCH_180), AP_Compass_IST8310::name, true);
}
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_IST8310_I2C_ADDR), ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_IST8310_I2C_ADDR),
both_i2c_external, ROTATION_PITCH_180), AP_Compass_IST8310::name, both_i2c_external); both_i2c_external, ROTATION_PITCH_180), AP_Compass_IST8310::name, both_i2c_external);
} }
@ -730,10 +730,14 @@ void Compass::_detect_backends(void)
break; break;
case AP_BoardConfig::PX4_BOARD_FMUV5: case AP_BoardConfig::PX4_BOARD_FMUV5:
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_IST8310_I2C_ADDR), FOREACH_I2C_EXTERNAL(i) {
false, ROTATION_ROLL_180_YAW_90), AP_Compass_IST8310::name, false); ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_IST8310_I2C_ADDR),
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(2, HAL_COMPASS_IST8310_I2C_ADDR), true, ROTATION_ROLL_180_YAW_90), AP_Compass_IST8310::name, true);
false, ROTATION_ROLL_180_YAW_90), AP_Compass_IST8310::name, false); }
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_IST8310_I2C_ADDR),
false, ROTATION_ROLL_180_YAW_90), AP_Compass_IST8310::name, false);
}
break; break;
case AP_BoardConfig::PX4_BOARD_SP01: case AP_BoardConfig::PX4_BOARD_SP01: