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AP_InertialSensor: support new sensor config setup

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This commit is contained in:
Andrew Tridgell 2019-05-29 21:01:48 +10:00
parent 481ae22671
commit 039e7366b0
1 changed files with 9 additions and 9 deletions
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18
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -33,6 +33,10 @@
#define timing_printf(fmt, args...) #define timing_printf(fmt, args...)
#endif #endif
#ifndef HAL_DEFAULT_INS_FAST_SAMPLE
#define HAL_DEFAULT_INS_FAST_SAMPLE 0
#endif
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) #if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
@ -431,7 +435,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
// @User: Advanced // @User: Advanced
// @Values: 1:FirstIMUOnly,3:FirstAndSecondIMU // @Values: 1:FirstIMUOnly,3:FirstAndSecondIMU
// @Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU // @Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU
AP_GROUPINFO("FAST_SAMPLE", 36, AP_InertialSensor, _fast_sampling_mask, 0), AP_GROUPINFO("FAST_SAMPLE", 36, AP_InertialSensor, _fast_sampling_mask, HAL_DEFAULT_INS_FAST_SAMPLE),
// @Group: NOTCH_ // @Group: NOTCH_
// @Path: ../Filter/NotchFilter.cpp // @Path: ../Filter/NotchFilter.cpp
@ -697,7 +701,10 @@ AP_InertialSensor::detect_backends(void)
ADD_BACKEND(AP_InertialSensor_HIL::detect(*this)); ADD_BACKEND(AP_InertialSensor_HIL::detect(*this));
return; return;
} }
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if defined(HAL_INS_PROBE_LIST)
// IMUs defined by IMU lines in hwdef.dat
HAL_INS_PROBE_LIST;
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
ADD_BACKEND(AP_InertialSensor_SITL::detect(*this)); ADD_BACKEND(AP_InertialSensor_SITL::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_HIL #elif HAL_INS_DEFAULT == HAL_INS_HIL
ADD_BACKEND(AP_InertialSensor_HIL::detect(*this)); ADD_BACKEND(AP_InertialSensor_HIL::detect(*this));
@ -769,13 +776,6 @@ AP_InertialSensor::detect_backends(void)
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_NONE)); ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_NONE));
break; break;
case AP_BoardConfig::PX4_BOARD_PIXRACER:
// only do fast samplng on ICM-20608. The MPU9250 doesn't handle high rate well when it has a mag enabled
_fast_sampling_mask.set_default(1);
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_PIXHAWK_PRO: case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:
_fast_sampling_mask.set_default(3); _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_ICM20608_NAME), ROTATION_ROLL_180_YAW_90));