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AP_InertialSensor: probe IMUs for mRoControlZeroF7

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Phillip Kocmoud 2019-05-08 21:34:51 -05:00 committed by Andrew Tridgell
parent a24bbe0b13
commit 6665e4c0a7
1 changed files with 7 additions and 0 deletions
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7
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -873,6 +873,13 @@ AP_InertialSensor::detect_backends(void)
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF7V2 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF7V2
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("mpu6000"), ROTATION_NONE)); ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("mpu6000"), ROTATION_NONE));
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("mpu6500"), ROTATION_YAW_90)); ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("mpu6500"), ROTATION_YAW_90));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_MROCONTROLZEROF7
ADD_BACKEND(AP_InertialSensor_Invensensev2::probe(*this, hal.spi->get_device("icm20948"), ROTATION_ROLL_180_YAW_90));
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("icm20608"), ROTATION_ROLL_180_YAW_90));
ADD_BACKEND(AP_InertialSensor_BMI088::probe(*this,
hal.spi->get_device("bmi088_a"),
hal.spi->get_device("bmi088_g"),
ROTATION_NONE));
#elif HAL_INS_DEFAULT == HAL_INS_NONE #elif HAL_INS_DEFAULT == HAL_INS_NONE
// no INS device // no INS device
#else #else