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AP_InertialSensor: use internal drivers for PHMINI

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this gets us fast sampling
This commit is contained in:
Andrew Tridgell 2016-11-09 11:33:22 +11:00
parent af1c5fd6d3
commit 03b7bc9e65
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -688,6 +688,10 @@ AP_InertialSensor::detect_backends(void)
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V4) {
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_ICM20608_NAME), ROTATION_ROLL_180_YAW_90));
_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180_YAW_90));
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PHMINI) {
// PHMINI uses ICM20608 on the ACCEL_MAG device and a MPU9250 on the old MPU6000 CS line
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_ICM20608_AM_NAME), ROTATION_ROLL_180));
_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180));
}
// also add any PX4 backends (eg. canbus sensors)
_add_backend(AP_InertialSensor_PX4::detect(*this));