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Commit 0eac7815 authored by Andrew Tridgell's avatar Andrew Tridgell
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AP_Compass: don't run the AK8963 on the external MPU9250

this saves us one mag slot for another external mag, and leaves the
primary MPU9250 undisturbed by the mag traffic on the bus
parent 70c27a85
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......@@ -514,10 +514,10 @@ void Compass::_detect_backends(void)
AP_Compass_LSM303D::name, false);
}
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V3) {
_add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_PITCH_180),
AP_Compass_AK8963::name, false);
_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
// first MPU9250 to run without disturbance at high rate
_add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 1, ROTATION_YAW_270),
AP_Compass_AK8963::name, false);
}
......
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