From e4454c505697aef47efd7db9f27960cdfc13c1ab Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 10 Nov 2016 15:29:54 +1100 Subject: [PATCH] AP_Compass: setup for new PX4 board IDs --- libraries/AP_Compass/AP_Compass.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp index fa32ebd4be..d91e4b4a73 100644 --- a/libraries/AP_Compass/AP_Compass.cpp +++ b/libraries/AP_Compass/AP_Compass.cpp @@ -492,11 +492,11 @@ void Compass::_detect_backends(void) #if HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL _add_backend(AP_Compass_HIL::detect(*this), nullptr, false); #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN - if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V1 || - AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V2 || - AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V3 || + if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PX4V1 || + AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK || AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PHMINI || AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PH2SLIM || + AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2 || AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXRACER) { // external i2c bus _add_backend(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_HMC5843_I2C_ADDR), @@ -506,14 +506,14 @@ void Compass::_detect_backends(void) _add_backend(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_HMC5843_I2C_ADDR), false), AP_Compass_HMC5843::name, false); } - if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V2) { + if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK) { _add_backend(AP_Compass_HMC5843::probe(*this, hal.spi->get_device(HAL_COMPASS_HMC5843_NAME), false, ROTATION_PITCH_180), AP_Compass_HMC5843::name, false); _add_backend(AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)), AP_Compass_LSM303D::name, false); } - if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V3) { + if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2) { _add_backend(AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME), ROTATION_YAW_270), AP_Compass_LSM303D::name, false); // we run the AK8963 only on the 2nd MPU9250, which leaves the