diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp index e57bf05bd557f7a488b597701aedbccaf4bc7ba3..32f4aa7a25a5e29df7ba27b669c1c34b0829ad81 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp @@ -698,6 +698,8 @@ AP_InertialSensor::detect_backends(void) // PHMINI uses ICM20608 on the ACCEL_MAG device and a MPU9250 on the old MPU6000 CS line _add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_ICM20608_AM_NAME), ROTATION_ROLL_180)); _add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), false, ROTATION_ROLL_180)); + } else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PH2SLIM) { + _add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), true, ROTATION_YAW_270)); } // also add any PX4 backends (eg. canbus sensors) _add_backend(AP_InertialSensor_PX4::detect(*this));