diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h index 0ced0a58149a301efffb40b7128da95c0ea22996..b7a96b4fefa98202bc7eb72cff7725a015175cdd 100644 --- a/libraries/AP_BoardConfig/AP_BoardConfig.h +++ b/libraries/AP_BoardConfig/AP_BoardConfig.h @@ -57,8 +57,7 @@ public: #endif PX4_BOARD_TEST_V1 = 101, PX4_BOARD_TEST_V2 = 102, - PX4_BOARD_TEST_V3 = 103, - PX4_BOARD_TEST_V4 = 104, + PX4_BOARD_TEST_V3 = 103 }; #endif diff --git a/libraries/AP_BoardConfig/px4_drivers.cpp b/libraries/AP_BoardConfig/px4_drivers.cpp index 38fe761d21b20f1a711ab6f1041c0438fde48f0b..f9619bf5fcce461ce43d3275459b5bc9a92ca37a 100644 --- a/libraries/AP_BoardConfig/px4_drivers.cpp +++ b/libraries/AP_BoardConfig/px4_drivers.cpp @@ -659,11 +659,15 @@ void AP_BoardConfig::px4_setup_drivers(void) } #endif +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4) + px4.board_type.set_and_notify(PX4_BOARD_PIXRACER); +#endif + if (px4.board_type == PX4_BOARD_TEST_V1 || px4.board_type == PX4_BOARD_TEST_V2 || px4.board_type == PX4_BOARD_TEST_V3 || - px4.board_type == PX4_BOARD_TEST_V4 || - px4.board_type == PX4_BOARD_PHMINI) { + px4.board_type == PX4_BOARD_PHMINI || + px4.board_type == PX4_BOARD_PIXRACER) { // use in-tree drivers printf("Using in-tree drivers\n"); px4_configured_board = (enum px4_board_type)px4.board_type.get();