From 00d0fe876d2404e40561bf3c20636646651232ea Mon Sep 17 00:00:00 2001 From: Marko Date: Tue, 16 Apr 2019 23:13:33 +0200 Subject: [PATCH] AP_Compass: Added support for internal i2c bus to VRBrain-v51 Now the internal compass HMC5883 of the VRBrain-v51 is correctly recognized Co-authored-by: Pierre Kancir --- libraries/AP_Compass/AP_Compass.cpp | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp index fbaf23248b..e910f0325c 100644 --- a/libraries/AP_Compass/AP_Compass.cpp +++ b/libraries/AP_Compass/AP_Compass.cpp @@ -1246,17 +1246,18 @@ void Compass::_detect_backends(void) ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(GET_I2C_DEVICE(0, 0x10), false, ROTATION_NONE)); break; - case AP_BoardConfig::VRX_BOARD_BRAIN54: { + case AP_BoardConfig::VRX_BOARD_BRAIN54: + case AP_BoardConfig::VRX_BOARD_BRAIN51: { // external i2c bus ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(1, HAL_COMPASS_HMC5843_I2C_ADDR), true, ROTATION_ROLL_180)); - } + // internal i2c bus - ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR), - false, ROTATION_YAW_270)); + ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR), + false, ROTATION_YAW_270)); + } break; - case AP_BoardConfig::VRX_BOARD_BRAIN51: case AP_BoardConfig::VRX_BOARD_BRAIN52: case AP_BoardConfig::VRX_BOARD_BRAIN52E: case AP_BoardConfig::VRX_BOARD_CORE10: