Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-18 06:38:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_InertialSensor: add ppro support

Browse Source
This commit is contained in:
Kevin Lopez Alvarez 2017-07-15 15:13:44 +10:00 committed by Randy Mackay
parent 2f1553d5e2
commit eb9c3ee972
1 changed files with 6 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -726,6 +726,12 @@ AP_InertialSensor::detect_backends(void)
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180_YAW_90));
break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:
_fast_sampling_mask.set_default(3);
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_ICM20608_NAME), ROTATION_ROLL_180_YAW_90));
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180_YAW_90));
break;
case AP_BoardConfig::PX4_BOARD_PHMINI:
// PHMINI uses ICM20608 on the ACCEL_MAG device and a MPU9250 on the old MPU6000 CS line
_fast_sampling_mask.set_default(3);