From bfa66c93972c32dcaba3dbab324f243daceb24af Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 29 May 2018 21:44:04 +1000 Subject: [PATCH] AP_InertialSensor: detect two IMUs on FMUv5 --- libraries/AP_InertialSensor/AP_InertialSensor.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp index 541fb526d3..56bce77aab 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp @@ -739,6 +739,12 @@ AP_InertialSensor::detect_backends(void) ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_YAW_270)); break; + case AP_BoardConfig::PX4_BOARD_FMUV5: + _fast_sampling_mask.set_default(1); + ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("icm20689"), ROTATION_NONE)); + ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("icm20602"), ROTATION_NONE)); + break; + case AP_BoardConfig::PX4_BOARD_SP01: _fast_sampling_mask.set_default(1); ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_EXT_NAME), ROTATION_NONE));