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SASC
ardupilot
Commits
e7a9de9b
Commit
e7a9de9b
authored
8 years ago
by
Andrew Tridgell
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Plain Diff
AP_BoardConfig: use in-tree drivers for PH2SLIM
parent
fea7040a
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Changes
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2 changed files
libraries/AP_BoardConfig/AP_BoardConfig.h
+0
-2
0 additions, 2 deletions
libraries/AP_BoardConfig/AP_BoardConfig.h
libraries/AP_BoardConfig/px4_drivers.cpp
+5
-50
5 additions, 50 deletions
libraries/AP_BoardConfig/px4_drivers.cpp
with
5 additions
and
52 deletions
libraries/AP_BoardConfig/AP_BoardConfig.h
+
0
−
2
View file @
e7a9de9b
...
@@ -110,8 +110,6 @@ private:
...
@@ -110,8 +110,6 @@ private:
void
px4_start_fmuv1_sensors
(
void
);
void
px4_start_fmuv1_sensors
(
void
);
void
px4_start_fmuv2_sensors
(
void
);
void
px4_start_fmuv2_sensors
(
void
);
void
px4_start_fmuv4_sensors
(
void
);
void
px4_start_fmuv4_sensors
(
void
);
void
px4_start_pixhawk2slim_sensors
(
void
);
void
px4_start_phmini_sensors
(
void
);
void
px4_start_optional_sensors
(
void
);
void
px4_start_optional_sensors
(
void
);
#endif
#endif
...
...
This diff is collapsed.
Click to expand it.
libraries/AP_BoardConfig/px4_drivers.cpp
+
5
−
50
View file @
e7a9de9b
...
@@ -386,48 +386,6 @@ void AP_BoardConfig::px4_start_fmuv2_sensors(void)
...
@@ -386,48 +386,6 @@ void AP_BoardConfig::px4_start_fmuv2_sensors(void)
}
}
/*
setup sensors for Pixhawk2-slim
*/
void
AP_BoardConfig
::
px4_start_pixhawk2slim_sensors
(
void
)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
printf
(
"Starting PH2SLIM sensors
\n
"
);
if
(
px4_start_driver
(
hmc5883_main
,
"hmc5883"
,
"-C -T -I -R 4 start"
))
{
printf
(
"Have internal hmc5883
\n
"
);
}
else
{
printf
(
"No internal hmc5883
\n
"
);
}
if
(
px4_start_driver
(
mpu9250_main
,
"mpu9250"
,
"-R 14 start"
))
{
printf
(
"Found MPU9250 internal
\n
"
);
}
else
if
(
px4_start_driver
(
mpu6000_main
,
"mpu6000"
,
"-R 14 -T 20608 start"
))
{
printf
(
"Found ICM20608 internal
\n
"
);
}
else
if
(
px4_start_driver
(
mpu6000_main
,
"mpu6000"
,
"-R 14 start"
))
{
printf
(
"Found MPU6000 internal
\n
"
);
}
else
{
px4_sensor_error
(
"No MPU9250 or ICM20608 or MPU6000"
);
}
// on Pixhawk2 default IMU temperature to 60
_imu_target_temperature
.
set_default
(
60
);
printf
(
"PH2SLIM sensors started
\n
"
);
#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
}
/*
setup sensors for PHMINI
*/
void
AP_BoardConfig
::
px4_start_phmini_sensors
(
void
)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
// we will use the internal sensor drivers for the mini, so nothing to do here
printf
(
"PHMINI: using in-tree IMU drivers
\n
"
);
#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
}
/*
/*
setup sensors for PX4v1
setup sensors for PX4v1
*/
*/
...
@@ -662,11 +620,16 @@ void AP_BoardConfig::px4_setup_drivers(void)
...
@@ -662,11 +620,16 @@ void AP_BoardConfig::px4_setup_drivers(void)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
px4
.
board_type
.
set_and_notify
(
PX4_BOARD_PIXRACER
);
px4
.
board_type
.
set_and_notify
(
PX4_BOARD_PIXRACER
);
#endif
#endif
if
(
px4
.
board_type
==
PX4_BOARD_PH2SLIM
)
{
_imu_target_temperature
.
set_default
(
60
);
}
if
(
px4
.
board_type
==
PX4_BOARD_TEST_V1
||
if
(
px4
.
board_type
==
PX4_BOARD_TEST_V1
||
px4
.
board_type
==
PX4_BOARD_TEST_V2
||
px4
.
board_type
==
PX4_BOARD_TEST_V2
||
px4
.
board_type
==
PX4_BOARD_TEST_V3
||
px4
.
board_type
==
PX4_BOARD_TEST_V3
||
px4
.
board_type
==
PX4_BOARD_PHMINI
||
px4
.
board_type
==
PX4_BOARD_PHMINI
||
px4
.
board_type
==
PX4_BOARD_PH2SLIM
||
px4
.
board_type
==
PX4_BOARD_PIXRACER
)
{
px4
.
board_type
==
PX4_BOARD_PIXRACER
)
{
// use in-tree drivers
// use in-tree drivers
printf
(
"Using in-tree drivers
\n
"
);
printf
(
"Using in-tree drivers
\n
"
);
...
@@ -677,14 +640,6 @@ void AP_BoardConfig::px4_setup_drivers(void)
...
@@ -677,14 +640,6 @@ void AP_BoardConfig::px4_setup_drivers(void)
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
px4_start_common_sensors
();
px4_start_common_sensors
();
switch
((
px4_board_type
)
px4
.
board_type
.
get
())
{
switch
((
px4_board_type
)
px4
.
board_type
.
get
())
{
case
PX4_BOARD_PH2SLIM
:
px4_start_pixhawk2slim_sensors
();
break
;
case
PX4_BOARD_PHMINI
:
px4_start_phmini_sensors
();
break
;
case
PX4_BOARD_AUTO
:
case
PX4_BOARD_AUTO
:
default:
default:
px4_start_fmuv1_sensors
();
px4_start_fmuv1_sensors
();
...
...
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