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AP_Compass: fixed build on bhat 

enable both compasses if found
This commit is contained in:
Andrew Tridgell 2016-11-25 13:55:42 +11:00
parent 1f403b02ef
commit f62972d966
1 changed files with 3 additions and 7 deletions
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10
libraries/AP_Compass/AP_Compass.cpp
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@ -572,13 +572,9 @@ void Compass::_detect_backends(void)
ADD_BACKEND(AP_Compass_LSM303D::probe(*this, hal.spi->get_device("lsm9ds0_am")),
AP_Compass_LSM303D::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BH
// In BH, only one compass should be detected
bool ret = ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, false);
if (!ret) {
ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0),
AP_Compass_AK8963::name, false);
}
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0), AP_Compass_AK8963::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QFLIGHT
ADD_BACKEND(AP_Compass_QFLIGHT::detect(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BBBMINI