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AP_Compass: use HMC5843 behind MPU6000 for minlure

This commit is contained in:
Lucas De Marchi 2015-08-12 18:45:30 -03:00 committed by Andrew Tridgell
parent 4992375bab
commit e6b942ffb0
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_Compass/Compass.cpp
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@ -428,7 +428,10 @@ void Compass::_detect_backends(void)
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
_add_backend(AP_Compass_HMC5843::detect_i2c(*this, hal.i2c)); _add_backend(AP_Compass_HMC5843::detect_i2c(*this, hal.i2c));
_add_backend(AP_Compass_LSM303D::detect_spi(*this)); _add_backend(AP_Compass_LSM303D::detect_spi(*this));
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_BEBOP #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && \
CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE && \
CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_BEBOP && \
CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_MINLURE
_add_backend(AP_Compass_HMC5843::detect_i2c(*this, hal.i2c)); _add_backend(AP_Compass_HMC5843::detect_i2c(*this, hal.i2c));
_add_backend(AP_Compass_AK8963::detect_mpu9250(*this, hal.spi->device(AP_HAL::SPIDevice_MPU9250))); _add_backend(AP_Compass_AK8963::detect_mpu9250(*this, hal.spi->device(AP_HAL::SPIDevice_MPU9250)));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL