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AP_Compass: support mini-pix

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ljwang 2018-02-06 21:39:55 +11:00 committed by Andrew Tridgell
parent 88effef51a
commit 231aa16835
1 changed files with 8 additions and 1 deletions
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9
libraries/AP_Compass/AP_Compass.cpp
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@ -595,7 +595,7 @@ void Compass::_detect_backends(void)
AP_Compass_QMC5883L::name, true);
//internal i2c bus
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_QMC5883L_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_ROLL_180:ROTATION_YAW_270),
both_i2c_external, both_i2c_external?ROTATION_ROLL_180:ROTATION_ROLL_180_YAW_270),
AP_Compass_QMC5883L::name,both_i2c_external);
#if !HAL_MINIMIZE_FEATURES
@ -851,6 +851,13 @@ void Compass::_detect_backends(void)
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_MAG3110
ADD_BACKEND(DRIVER_MAG3110, AP_Compass_MAG3110::probe(*this, hal.i2c_mgr->get_device(HAL_MAG3110_I2C_BUS, HAL_MAG3110_I2C_ADDR), ROTATION_NONE),
AP_Compass_MAG3110::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QMC5883L
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_QMC5883L_I2C_ADDR),
false,ROTATION_NONE),
AP_Compass_QMC5883L::name, false);
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_QMC5883L_I2C_ADDR),
false,ROTATION_NONE),
AP_Compass_QMC5883L::name, true);
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, false);