From cb70bae1679543cb0be487cf1e82fe98e92c4cbe Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 9 Nov 2016 21:19:39 +1100
Subject: [PATCH] AP_InertialSensor: use in-tree drivers for PH2SLIM
---
libraries/AP_InertialSensor/AP_InertialSensor.cpp | 2 ++
1 file changed, 2 insertions(+)
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index e57bf05bd5..32f4aa7a25 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));
--
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