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AP_InertialSensor: added OMNIBUSF7V2 INS sensors

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a dual-IMU board
This commit is contained in:
Andrew Tridgell 2018-03-04 21:05:51 +11:00
parent 943e433be6
commit ea2dc9b831
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -854,6 +854,9 @@ AP_InertialSensor::detect_backends(void)
HAL_INS_DEFAULT_A_ROTATION));
#elif HAL_INS_DEFAULT == HAL_INS_ICM20789_SPI
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("icm20789")));
#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("mpu6500"), ROTATION_NONE));
#elif HAL_INS_DEFAULT == HAL_INS_NONE
// no INS device
#else