From 502f19cbae539bf51125be4f44d866371b35de6d Mon Sep 17 00:00:00 2001 From: LukeMike Date: Sat, 3 Feb 2018 14:56:40 +0100 Subject: [PATCH] VRBRAIN / AP_InertialSensor: added inertial sensors init for VR Brain boards --- .../AP_InertialSensor/AP_InertialSensor.cpp | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp index e63f7c8618..14e82c5540 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp @@ -817,6 +817,24 @@ AP_InertialSensor::detect_backends(void) ROTATION_YAW_90)); break; + case AP_BoardConfig::VRX_BOARD_BRAIN54: + _fast_sampling_mask.set_default(7); + ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME), ROTATION_YAW_180)); + ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_EXT_NAME), ROTATION_YAW_180)); +#ifdef HAL_INS_MPU60x0_IMU_NAME + ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_IMU_NAME), ROTATION_YAW_180)); +#endif + 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: + case AP_BoardConfig::VRX_BOARD_UBRAIN51: + case AP_BoardConfig::VRX_BOARD_UBRAIN52: + ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME), ROTATION_YAW_180)); + break; + default: break; }