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AP_InertialSensor: enable all 3 IMUs on PH2

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This commit is contained in:
Andrew Tridgell 2016-11-04 17:58:37 +11:00
parent e08babb7df
commit 4ef92b5e39
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -595,6 +595,12 @@ AP_InertialSensor::detect_backends(void)
_add_backend(AP_InertialSensor_LSM9DS0::probe(*this,
hal.spi->get_device(HAL_INS_LSM9DS0_G_NAME),
hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), ROTATION_ROLL_180));
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V3) {
_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_EXT_NAME)));
_add_backend(AP_InertialSensor_LSM9DS0::probe(*this,
hal.spi->get_device(HAL_INS_LSM9DS0_EXT_G_NAME),
hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME), ROTATION_ROLL_180));
_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V4) {
_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
}