From f6bba74fb6a2dd6a039d58471c6cfe374367e9d5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 7 Jul 2014 09:49:38 +1000
Subject: [PATCH] Plane: enable MPU9250 for Linux build

---
 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 9a02e1053e..7b23beae4a 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -245,6 +245,8 @@ AP_InertialSensor_Oilpan ins( &apm1_adc );
 AP_InertialSensor_Flymaple ins;
 #elif CONFIG_INS_TYPE == CONFIG_INS_L3G4200D
 AP_InertialSensor_L3G4200D ins;
+#elif CONFIG_INS_TYPE == CONFIG_INS_MPU9250
+AP_InertialSensor_MPU9250 ins;
 #else
   #error Unrecognised CONFIG_INS_TYPE setting.
 #endif // CONFIG_INS_TYPE
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index 421cd16ae8..34005f5f64 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -112,7 +112,7 @@
 #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
  # define BATTERY_VOLT_PIN      -1
  # define BATTERY_CURR_PIN      -1
- # define CONFIG_INS_TYPE CONFIG_INS_MPU6000
+ # define CONFIG_INS_TYPE CONFIG_INS_MPU9250
  # define CONFIG_BARO          AP_BARO_MS5611
  # define CONFIG_MS5611_SERIAL AP_BARO_MS5611_SPI
  # define CONFIG_COMPASS  AP_COMPASS_HMC5843
diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
index 33139a20ad..2b8fd79092 100644
--- a/ArduPlane/defines.h
+++ b/ArduPlane/defines.h
@@ -205,6 +205,7 @@ enum log_messages {
 #define CONFIG_INS_FLYMAPLE 5
 #define CONFIG_INS_L3G4200D 6
 #define CONFIG_INS_VRBRAIN  7
+#define CONFIG_INS_MPU9250  8
 
 // barometer driver types
 #define AP_BARO_BMP085   1