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AP_InertialSensor: special check for CubeBlack to force INS_USE3=1

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this will cope with users loading old parameter files
This commit is contained in:
Andrew Tridgell 2019-07-31 10:47:50 +10:00
parent 6f58260d99
commit e1ce735886
1 changed files with 14 additions and 0 deletions
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14
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -681,6 +681,20 @@ AP_InertialSensor::detect_backends(void)
_backends_detected = true; _backends_detected = true;
#if defined(HAL_CHIBIOS_ARCH_CUBEBLACK)
// special case for CubeBlack, where the IMUs on the isolated
// board could fail on some boards. If the user has INS_USE=1,
// INS_USE2=1 and INS_USE3=0 then force INS_USE3 to 1. This is
// done as users loading past parameter files may end up with
// INS_USE3=0 unintentionally, which is unsafe on these
// boards. For users who really want limited IMUs they will need
// to either use the INS_ENABLE_MASK or set INS_USE2=0 which will
// enable the first IMU without triggering this check
if (_use[0] == 1 && _use[1] == 1 && _use[2] == 0) {
_use[2].set(1);
}
#endif
uint8_t probe_count = 0; uint8_t probe_count = 0;
uint8_t enable_mask = uint8_t(_enable_mask.get()); uint8_t enable_mask = uint8_t(_enable_mask.get());
uint8_t found_mask = 0; uint8_t found_mask = 0;