mirror of https://github.com/ArduPilot/ardupilot
AP_Compass: fixed compass orientations on PH4
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parent
260ac21e13
commit
d9ba148083
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@ -657,12 +657,12 @@ void Compass::_detect_backends(void)
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}
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// IST8310 on external and internal bus
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FOREACH_I2C_EXTERNAL(i) {
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ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_IST8310_I2C_ADDR),
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true, ROTATION_PITCH_180), AP_Compass_IST8310::name, true);
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}
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if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_FMUV5) {
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FOREACH_I2C_EXTERNAL(i) {
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ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_IST8310_I2C_ADDR),
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true, ROTATION_PITCH_180), AP_Compass_IST8310::name, true);
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}
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ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_IST8310_I2C_ADDR),
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both_i2c_external, ROTATION_PITCH_180), AP_Compass_IST8310::name, both_i2c_external);
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}
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@ -730,10 +730,14 @@ void Compass::_detect_backends(void)
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break;
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case AP_BoardConfig::PX4_BOARD_FMUV5:
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ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_IST8310_I2C_ADDR),
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false, ROTATION_ROLL_180_YAW_90), AP_Compass_IST8310::name, false);
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ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(2, HAL_COMPASS_IST8310_I2C_ADDR),
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false, ROTATION_ROLL_180_YAW_90), AP_Compass_IST8310::name, false);
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FOREACH_I2C_EXTERNAL(i) {
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ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_IST8310_I2C_ADDR),
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true, ROTATION_ROLL_180_YAW_90), AP_Compass_IST8310::name, true);
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}
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FOREACH_I2C_INTERNAL(i) {
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ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_IST8310_I2C_ADDR),
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false, ROTATION_ROLL_180_YAW_90), AP_Compass_IST8310::name, false);
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}
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break;
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case AP_BoardConfig::PX4_BOARD_SP01:
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