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AP_Compass: auto-detect LIS3MDL compass

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This commit is contained in:
Andrew Tridgell 2016-11-24 17:54:44 +11:00
parent b6b2919126
commit 0e4b8781b2
3 changed files with 19 additions and 2 deletions
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15
libraries/AP_Compass/AP_Compass.cpp
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@ -15,6 +15,7 @@
#include "AP_Compass_PX4.h"
#include "AP_Compass_QURT.h"
#include "AP_Compass_qflight.h"
#include "AP_Compass_LIS3MDL.h"
#include "AP_Compass.h"
extern AP_HAL::HAL& hal;
@ -510,13 +511,23 @@ void Compass::_detect_backends(void)
AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PH2SLIM ||
AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2 ||
AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXRACER) {
bool both_i2c_external = (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2);
// external i2c bus
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true);
// internal i2c bus
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_HMC5843_I2C_ADDR), false),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_HMC5843_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_ROLL_180:ROTATION_NONE),
AP_Compass_HMC5843::name, both_i2c_external);
// lis3mdl
ADD_BACKEND(AP_Compass_LIS3MDL::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_LIS3MDL_I2C_ADDR),
true, ROTATION_YAW_90),
AP_Compass_LIS3MDL::name, true);
ADD_BACKEND(AP_Compass_LIS3MDL::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_LIS3MDL_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_YAW_90:ROTATION_NONE),
AP_Compass_LIS3MDL::name, both_i2c_external);
}
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK) {
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),

1
libraries/AP_Compass/AP_Compass_Backend.h
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@ -53,6 +53,7 @@ public:
DEVTYPE_AK8963 = 0x04,
DEVTYPE_BMM150 = 0x05,
DEVTYPE_LSM9DS1 = 0x06,
DEVTYPE_LIS3MDL = 0x08,
};

5
libraries/AP_Compass/AP_Compass_LIS3MDL.h
View File

@ -22,6 +22,11 @@
#include "AP_Compass.h"
#include "AP_Compass_Backend.h"
#ifndef HAL_COMPASS_LIS3MDL_I2C_ADDR
// this can also be on 0x1e
# define HAL_COMPASS_LIS3MDL_I2C_ADDR 0x1c
#endif
class AP_Compass_LIS3MDL : public AP_Compass_Backend
{
public: