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AP_BoardConfig: use in-tree drivers for PH2SLIM

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This commit is contained in:
Andrew Tridgell 2016-11-09 21:18:55 +11:00
parent fea7040aff
commit e7a9de9b41
2 changed files with 5 additions and 52 deletions
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2
libraries/AP_BoardConfig/AP_BoardConfig.h
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@ -110,8 +110,6 @@ private:
void px4_start_fmuv1_sensors(void);
void px4_start_fmuv2_sensors(void);
void px4_start_fmuv4_sensors(void);
void px4_start_pixhawk2slim_sensors(void);
void px4_start_phmini_sensors(void);
void px4_start_optional_sensors(void);
#endif

55
libraries/AP_BoardConfig/px4_drivers.cpp
View File

@ -386,48 +386,6 @@ void AP_BoardConfig::px4_start_fmuv2_sensors(void)
}
/*
setup sensors for Pixhawk2-slim
*/
void AP_BoardConfig::px4_start_pixhawk2slim_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
printf("Starting PH2SLIM sensors\n");
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -T -I -R 4 start")) {
printf("Have internal hmc5883\n");
} else {
printf("No internal hmc5883\n");
}
if (px4_start_driver(mpu9250_main, "mpu9250", "-R 14 start")) {
printf("Found MPU9250 internal\n");
} else if (px4_start_driver(mpu6000_main, "mpu6000", "-R 14 -T 20608 start")) {
printf("Found ICM20608 internal\n");
} else if (px4_start_driver(mpu6000_main, "mpu6000", "-R 14 start")) {
printf("Found MPU6000 internal\n");
} else {
px4_sensor_error("No MPU9250 or ICM20608 or MPU6000");
}
// on Pixhawk2 default IMU temperature to 60
_imu_target_temperature.set_default(60);
printf("PH2SLIM sensors started\n");
#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
}
/*
setup sensors for PHMINI
*/
void AP_BoardConfig::px4_start_phmini_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
// we will use the internal sensor drivers for the mini, so nothing to do here
printf("PHMINI: using in-tree IMU drivers\n");
#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
}
/*
setup sensors for PX4v1
*/
@ -662,11 +620,16 @@ void AP_BoardConfig::px4_setup_drivers(void)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
px4.board_type.set_and_notify(PX4_BOARD_PIXRACER);
#endif
if (px4.board_type == PX4_BOARD_PH2SLIM) {
_imu_target_temperature.set_default(60);
}
if (px4.board_type == PX4_BOARD_TEST_V1 ||
px4.board_type == PX4_BOARD_TEST_V2 ||
px4.board_type == PX4_BOARD_TEST_V3 ||
px4.board_type == PX4_BOARD_PHMINI ||
px4.board_type == PX4_BOARD_PH2SLIM ||
px4.board_type == PX4_BOARD_PIXRACER) {
// use in-tree drivers
printf("Using in-tree drivers\n");
@ -677,14 +640,6 @@ void AP_BoardConfig::px4_setup_drivers(void)
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
px4_start_common_sensors();
switch ((px4_board_type)px4.board_type.get()) {
case PX4_BOARD_PH2SLIM:
px4_start_pixhawk2slim_sensors();
break;
case PX4_BOARD_PHMINI:
px4_start_phmini_sensors();
break;
case PX4_BOARD_AUTO:
default:
px4_start_fmuv1_sensors();