From c68a6451cbd7908d44dd40553311cafbb50c10c7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 9 Nov 2016 21:19:24 +1100
Subject: [PATCH] AP_Compass: use in-tree drivers for PH2SLIM
---
libraries/AP_Compass/AP_Compass.cpp | 16 +++++++++++++---
1 file changed, 13 insertions(+), 3 deletions(-)
diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index 71392d81c5..7ba1e33861 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -496,6 +496,7 @@ void Compass::_detect_backends(void)
AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V2 ||
AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V3 ||
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_PIXRACER) {
// external i2c bus
_add_backend(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_HMC5843_I2C_ADDR),
@@ -504,16 +505,18 @@ void Compass::_detect_backends(void)
// internal i2c bus
_add_backend(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_HMC5843_I2C_ADDR), false),
AP_Compass_HMC5843::name, false);
- // try for SPI device too
+ }
+ if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V2) {
_add_backend(AP_Compass_HMC5843::probe(*this, hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
false, ROTATION_PITCH_180),
AP_Compass_HMC5843::name, false);
- }
- if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V2) {
_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) {
+ _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_AK8963::probe_mpu9250(*this, 0),
AP_Compass_AK8963::name, false);
_add_backend(AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME)),
@@ -522,6 +525,9 @@ void Compass::_detect_backends(void)
AP_Compass_AK8963::name, false);
}
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXRACER) {
+ _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_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180_YAW_90),
AP_Compass_AK8963::name, false);
}
@@ -529,6 +535,10 @@ void Compass::_detect_backends(void)
_add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180),
AP_Compass_AK8963::name, false);
}
+ if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PH2SLIM) {
+ _add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_YAW_270),
+ AP_Compass_AK8963::name, false);
+ }
// also add any px4 level drivers (for canbus magnetometers)
_add_backend(AP_Compass_PX4::detect(*this), nullptr, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QURT
--
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