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AP_RangeFinder: enable sonar on Disco

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This commit is contained in:
Andrew Tridgell 2016-06-16 12:44:01 +10:00
parent 018d8f732a
commit e0047d81a2
2 changed files with 5 additions and 4 deletions
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6
libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp
View File

@ -15,8 +15,9 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <utility> #include <utility>
#if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP) && \ #if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
defined(HAVE_LIBIIO) CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO) && \
defined(HAVE_LIBIIO)
#include <stdlib.h> #include <stdlib.h>
#include <unistd.h> #include <unistd.h>
@ -34,7 +35,6 @@ defined(HAVE_LIBIIO)
#include "AP_RangeFinder_Bebop.h" #include "AP_RangeFinder_Bebop.h"
#include <AP_HAL_Linux/Thread.h> #include <AP_HAL_Linux/Thread.h>
#include <AP_HAL_Linux/GPIO.h> #include <AP_HAL_Linux/GPIO.h>
#include <AP_HAL_Linux/GPIO_Bebop.h>
/* /*
* this mode is used at low altitude * this mode is used at low altitude

3
libraries/AP_RangeFinder/RangeFinder.cpp
View File

@ -530,7 +530,8 @@ void RangeFinder::detect_instance(uint8_t instance)
return; return;
} }
} }
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP && defined(HAVE_LIBIIO) #if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO) && defined(HAVE_LIBIIO)
if (type == RangeFinder_TYPE_BEBOP) { if (type == RangeFinder_TYPE_BEBOP) {
if (AP_RangeFinder_Bebop::detect(*this, instance)) { if (AP_RangeFinder_Bebop::detect(*this, instance)) {
state[instance].instance = instance; state[instance].instance = instance;