From 6e84a316136f4531e6d297247bd8924167c9bd98 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 6 Nov 2018 16:17:19 +1100 Subject: [PATCH] AP_RangeFinder: use new ChibiOS driver if user attempts to use PX4 PWM driver --- libraries/AP_RangeFinder/RangeFinder.cpp | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/libraries/AP_RangeFinder/RangeFinder.cpp b/libraries/AP_RangeFinder/RangeFinder.cpp index 4823dbc26d..5a406cf927 100644 --- a/libraries/AP_RangeFinder/RangeFinder.cpp +++ b/libraries/AP_RangeFinder/RangeFinder.cpp @@ -690,6 +690,14 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance) drivers[instance] = new AP_RangeFinder_PX4_PWM(state[instance], _powersave_range, estimated_terrain_height); } break; +#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS + case RangeFinder_TYPE_PX4_PWM: + // to ease moving from PX4 to ChibiOS we'll lie a little about + // the backend driver... + if (AP_RangeFinder_PWM::detect()) { + drivers[instance] = new AP_RangeFinder_PWM(state[instance]); + } + break; #endif #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI case RangeFinder_TYPE_BBB_PRU: