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AP_InertialSensor: enable fast sampling by default on some boards

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This commit is contained in:
Andrew Tridgell 2016-11-25 17:59:54 +11:00
parent 026c65d364
commit 0f984290c3
1 changed files with 5 additions and 0 deletions
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5
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -691,6 +691,7 @@ AP_InertialSensor::detect_backends(void)
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK) {
if (!_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME), ROTATION_ROLL_180))) {
// handle pixfalcon with mpu9250 instead of mpu6000
_fast_sampling_mask.set_default(1);
_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180));
}
_add_backend(AP_InertialSensor_LSM9DS0::probe(*this,
@ -700,6 +701,7 @@ AP_InertialSensor::detect_backends(void)
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2) {
// older Pixhawk2 boards have the MPU6000 instead of MPU9250
_fast_sampling_mask.set_default(1);
if (!_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_EXT_NAME), ROTATION_PITCH_180))) {
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_EXT_NAME), ROTATION_PITCH_180));
}
@ -712,15 +714,18 @@ AP_InertialSensor::detect_backends(void)
}
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXRACER) {
_fast_sampling_mask.set_default(3);
_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
_fast_sampling_mask.set_default(3);
_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));
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PH2SLIM) {
_fast_sampling_mask.set_default(1);
_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_YAW_270));
}
// also add any PX4 backends (eg. canbus sensors)