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AP_InertialSensor: use right AK8963 compass defines

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This commit is contained in:
Andrew Tridgell 2015-02-24 08:28:05 +11:00
parent b52918331a
commit 60b8736cf1
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
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@ -421,7 +421,7 @@ bool AP_InertialSensor_MPU9250::_hardware_init(void)
// Chip reset
uint8_t tries;
for (tries = 0; tries<5; tries++) {
#if HAL_COMPASS_DEFAULT != HAL_COMPASS_AK8963
#if HAL_COMPASS_DEFAULT != HAL_COMPASS_AK8963_MPU9250
/* Prevent reseting if internal AK8963 is selected, because it may corrupt
* AK8963's initialisation. */
_register_write(MPUREG_PWR_MGMT_1, BIT_PWR_MGMT_1_DEVICE_RESET);
@ -451,7 +451,7 @@ bool AP_InertialSensor_MPU9250::_hardware_init(void)
_register_write(MPUREG_PWR_MGMT_2, 0x00); // only used for wake-up in accelerometer only low power mode
// Disable I2C bus (recommended on datasheet)
#if HAL_COMPASS_DEFAULT != HAL_COMPASS_AK8963
#if HAL_COMPASS_DEFAULT != HAL_COMPASS_AK8963_MPU9250
/* Prevent disabling if internal AK8963 is selected. If internal AK8963 is not used
* it's ok to disable I2C slaves*/
_register_write(MPUREG_USER_CTRL, BIT_USER_CTRL_I2C_IF_DIS);