From e6af7dad3d3394c1198c3fca1001937a4fc8a8fc Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 8 Oct 2013 11:24:21 +1100
Subject: [PATCH] Plane: switched to L3G4200D driver for Linux

---
 ArduPlane/ArduPlane.pde | 2 ++
 ArduPlane/config.h      | 2 +-
 ArduPlane/defines.h     | 1 +
 3 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index eb90005b8c..39cac9c0b4 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -252,6 +252,8 @@ AP_InertialSensor_HIL ins;
 AP_InertialSensor_Oilpan ins( &apm1_adc );
 #elif CONFIG_INS_TYPE == CONFIG_INS_FLYMAPLE
 AP_InertialSensor_Flymaple ins;
+#elif CONFIG_INS_TYPE == CONFIG_INS_L3G4200D
+AP_InertialSensor_L3G4200D ins;
 #else
   #error Unrecognised CONFIG_INS_TYPE setting.
 #endif // CONFIG_INS_TYPE
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index 11ed2628f7..b8b4b0a976 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -118,7 +118,7 @@
 #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
  # define BATTERY_VOLT_PIN      -1
  # define BATTERY_CURR_PIN      -1
- # define CONFIG_INS_TYPE CONFIG_INS_OILPAN
+ # define CONFIG_INS_TYPE CONFIG_INS_L3G4200D
  # define CONFIG_BARO     AP_BARO_BMP085
  # define CONFIG_COMPASS  AP_COMPASS_HMC5843
 #endif
diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
index fa5bd209c9..038536b594 100644
--- a/ArduPlane/defines.h
+++ b/ArduPlane/defines.h
@@ -243,6 +243,7 @@ enum log_messages {
 #define CONFIG_INS_HIL     3
 #define CONFIG_INS_PX4     4
 #define CONFIG_INS_FLYMAPLE 5
+#define CONFIG_INS_L3G4200D 6
 
 // barometer driver types
 #define AP_BARO_BMP085   1