forked from Archive/PX4-Autopilot
paw3902: Default to using SENS_FLOW_ROT rotation
This restores the behavior to what it was previous to #16338 (74083d6
).
Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com>
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c266c3e43a
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cbf34109d1
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@ -46,8 +46,14 @@ void PAW3902::print_usage()
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I2CSPIDriverBase *PAW3902::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
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I2CSPIDriverBase *PAW3902::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
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int runtime_instance)
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int runtime_instance)
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{
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{
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float yaw_rotation_degrees = NAN;
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if (cli.custom1 >= 0) {
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yaw_rotation_degrees = cli.custom1;
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}
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PAW3902 *instance = new PAW3902(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.bus_frequency,
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PAW3902 *instance = new PAW3902(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.bus_frequency,
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cli.spi_mode, iterator.DRDYGPIO(), cli.custom1);
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cli.spi_mode, iterator.DRDYGPIO(), yaw_rotation_degrees);
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if (!instance) {
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if (!instance) {
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PX4_ERR("alloc failed");
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PX4_ERR("alloc failed");
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@ -67,6 +73,7 @@ extern "C" __EXPORT int paw3902_main(int argc, char *argv[])
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int ch = 0;
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int ch = 0;
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using ThisDriver = PAW3902;
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using ThisDriver = PAW3902;
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BusCLIArguments cli{false, true};
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BusCLIArguments cli{false, true};
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cli.custom1 = -1;
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cli.spi_mode = SPIDEV_MODE0;
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cli.spi_mode = SPIDEV_MODE0;
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cli.default_spi_frequency = SPI_SPEED;
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cli.default_spi_frequency = SPI_SPEED;
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