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AP_InertialSensor: removed old method of specifying most IMUs 

and removed dangerous default values for rotations
mission-4.1.18
Andrew Tridgell 6 years ago
parent
0667747506
commit
1c92ecc89f
5 changed files with 9 additions and 48 deletions
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  1. 41
      libraries/AP_InertialSensor/AP_InertialSensor.cpp
  2. 4
      libraries/AP_InertialSensor/AP_InertialSensor_BMI055.h
  3. 4
      libraries/AP_InertialSensor/AP_InertialSensor_BMI088.h
  4. 4
      libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h
  5. 4
      libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.h

41
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -720,23 +720,10 @@ AP_InertialSensor::detect_backends(void) @@ -720,23 +720,10 @@ AP_InertialSensor::detect_backends(void)
ADD_BACKEND(AP_InertialSensor_SITL::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_HIL
ADD_BACKEND(AP_InertialSensor_HIL::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_MPU60XX_SPI && defined(HAL_INS_DEFAULT_ROTATION)
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME),
HAL_INS_DEFAULT_ROTATION));
#elif HAL_INS_DEFAULT == HAL_INS_MPU60XX_SPI
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
#elif HAL_INS_DEFAULT == HAL_INS_MPU60XX_I2C && defined(HAL_INS_DEFAULT_ROTATION)
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU60x0_I2C_BUS, HAL_INS_MPU60x0_I2C_ADDR),
HAL_INS_DEFAULT_ROTATION));
#elif HAL_INS_DEFAULT == HAL_INS_MPU60XX_I2C
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU60x0_I2C_BUS, HAL_INS_MPU60x0_I2C_ADDR)));
#elif HAL_INS_DEFAULT == HAL_INS_BH
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU60x0_I2C_BUS, HAL_INS_MPU60x0_I2C_ADDR)));
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
#elif AP_FEATURE_BOARD_DETECT
switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PX4V1:
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME), ROTATION_NONE));
break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK:
@ -853,32 +840,6 @@ AP_InertialSensor::detect_backends(void) @@ -853,32 +840,6 @@ AP_InertialSensor::detect_backends(void)
default:
break;
}
#elif HAL_INS_DEFAULT == HAL_INS_MPU9250_SPI && defined(HAL_INS_DEFAULT_ROTATION)
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), HAL_INS_DEFAULT_ROTATION));
#elif HAL_INS_DEFAULT == HAL_INS_MPU9250_SPI
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
#elif HAL_INS_DEFAULT == HAL_INS_EDGE
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME), ROTATION_YAW_90));
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME_EXT), ROTATION_YAW_90));
#elif HAL_INS_DEFAULT == HAL_INS_L3G4200D
ADD_BACKEND(AP_InertialSensor_L3G4200D::probe(*this, hal.i2c_mgr->get_device(HAL_INS_L3G4200D_I2C_BUS, HAL_INS_L3G4200D_I2C_ADDR)));
#elif HAL_INS_DEFAULT == HAL_INS_MPU9250_I2C
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU9250_I2C_BUS, HAL_INS_MPU9250_I2C_ADDR)));
#elif HAL_INS_DEFAULT == HAL_INS_BBBMINI
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME_EXT)));
#elif HAL_INS_DEFAULT == HAL_INS_AERO
ADD_BACKEND(AP_InertialSensor_BMI160::probe(*this, hal.spi->get_device("bmi160")));
#elif HAL_INS_DEFAULT == HAL_INS_RST
ADD_BACKEND(AP_InertialSensor_RST::probe(*this, hal.spi->get_device(HAL_INS_RST_G_NAME),
hal.spi->get_device(HAL_INS_RST_A_NAME),
HAL_INS_DEFAULT_G_ROTATION,
HAL_INS_DEFAULT_A_ROTATION));
#elif HAL_INS_DEFAULT == HAL_INS_ICM20789_SPI
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("icm20789")));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF7V2
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("mpu6000"), ROTATION_NONE));
ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("mpu6500"), ROTATION_YAW_90));
#elif HAL_INS_DEFAULT == HAL_INS_NONE
// no INS device
#else

4
libraries/AP_InertialSensor/AP_InertialSensor_BMI055.h
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@ -28,7 +28,7 @@ public: @@ -28,7 +28,7 @@ public:
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_accel,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev_gyro,
enum Rotation rotation = ROTATION_NONE);
enum Rotation rotation);
/**
* Configure the sensors and start reading routine.
@ -40,7 +40,7 @@ private: @@ -40,7 +40,7 @@ private:
AP_InertialSensor_BMI055(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::Device> dev_accel,
AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro,
enum Rotation rotation = ROTATION_NONE);
enum Rotation rotation);
/*
initialise hardware layer

4
libraries/AP_InertialSensor/AP_InertialSensor_BMI088.h
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@ -28,7 +28,7 @@ public: @@ -28,7 +28,7 @@ public:
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::Device> dev_accel,
AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro,
enum Rotation rotation = ROTATION_NONE);
enum Rotation rotation);
/**
* Configure the sensors and start reading routine.
@ -40,7 +40,7 @@ private: @@ -40,7 +40,7 @@ private:
AP_InertialSensor_BMI088(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::Device> dev_accel,
AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro,
enum Rotation rotation = ROTATION_NONE);
enum Rotation rotation);
/*
initialise hardware layer

4
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h
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@ -39,11 +39,11 @@ public: @@ -39,11 +39,11 @@ public:
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
enum Rotation rotation = ROTATION_NONE);
enum Rotation rotation);
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev,
enum Rotation rotation = ROTATION_NONE);
enum Rotation rotation);
/* update accel and gyro state */
bool update() override;

4
libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.h
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@ -35,11 +35,11 @@ public: @@ -35,11 +35,11 @@ public:
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
enum Rotation rotation = ROTATION_NONE);
enum Rotation rotation);
static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev,
enum Rotation rotation = ROTATION_NONE);
enum Rotation rotation);
/* update accel and gyro state */
bool update() override;

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