From 444c0bb54c7b2ecf4679907e0ebe9d2d40800411 Mon Sep 17 00:00:00 2001
From: kozinalexey <kozin@mail.ru>
Date: Sat, 14 Apr 2018 09:31:11 +1000
Subject: [PATCH] AP_Compass: added ChibiOS external compass config

---
 libraries/AP_Compass/AP_Compass.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index 81f7f0b38a..41af7371e0 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -932,6 +932,13 @@ void Compass::_detect_backends(void)
                        AP_Compass_QMC5883L::name, true);
 #endif
 
+/* for chibios external board coniguration */
+#ifdef HAL_EXT_COMPASS_HMC5843_I2C_BUS
+    ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_EXT_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),
+                                                          true, ROTATION_ROLL_180),
+                AP_Compass_HMC5843::name, true);
+#endif
+
 #if HAL_WITH_UAVCAN
     if (_driver_enabled(DRIVER_UAVCAN)) {
         bool added;