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AP_BoardConfig: use in-tree drivers for PHMINI

This commit is contained in:
Andrew Tridgell 2016-11-09 11:33:53 +11:00
parent b363a65c2e
commit fcf0a4ea59
1 changed files with 4 additions and 17 deletions
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21
libraries/AP_BoardConfig/px4_drivers.cpp
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@ -423,22 +423,8 @@ void AP_BoardConfig::px4_start_pixhawk2slim_sensors(void)
void AP_BoardConfig::px4_start_phmini_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
printf("Starting PHMINI sensors\n");
// ICM20608 on SPI
if (px4_start_driver(mpu6000_main, "mpu6000", "-S 2 -T 20608 start")) {
printf("Found ICM20608 internal\n");
} else {
px4_sensor_error("No ICM20608 found");
}
if (px4_start_driver(mpu9250_main, "mpu9250", "start")) {
printf("Found mpu9260\n");
} else {
px4_sensor_error("No MPU9250 found");
}
printf("PHMINI sensors started\n");
// 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
}
@ -676,7 +662,8 @@ void AP_BoardConfig::px4_setup_drivers(void)
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_TEST_V4) {
px4.board_type == PX4_BOARD_TEST_V4 ||
px4.board_type == PX4_BOARD_PHMINI) {
// use in-tree drivers
printf("Using in-tree drivers\n");
px4_configured_board = (enum px4_board_type)px4.board_type.get();