From 19c6f8782147ad18ff3df8bd257065ea47ecf476 Mon Sep 17 00:00:00 2001 From: "dhcorley@msn.com" Date: Sat, 4 Jun 2011 01:22:04 +0000 Subject: [PATCH] adding 5883 mag support part 1 git-svn-id: https://arducopter.googlecode.com/svn/trunk@2473 f9c3cf11-9bcb-44bc-f272-b75c42450872 --- ArduCopterMega/ArduCopterMega.pde | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/ArduCopterMega/ArduCopterMega.pde b/ArduCopterMega/ArduCopterMega.pde index c6c3618bb6..82cc7ce863 100644 --- a/ArduCopterMega/ArduCopterMega.pde +++ b/ArduCopterMega/ArduCopterMega.pde @@ -99,7 +99,14 @@ GPS *g_gps; // real sensors AP_ADC_ADS7844 adc; APM_BMP085_Class barometer; - AP_Compass_HMC5843 compass(Parameters::k_param_compass); + // MAG PROTOCOL + #if MAG_PROTOCOL == MAG_PROTOCOL_5843 + AP_Compass_HMC5843 compass(Parameters::k_param_compass); + #elif MAG_PROTOCOL == MAG_PROTOCOL_5883L + AP_Compass_HMC5883L compass(Parameters::k_param_compass); + #else + #error Unrecognised MAG_PROTOCOL setting. + #endif // real GPS selection #if GPS_PROTOCOL == GPS_PROTOCOL_AUTO