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Corrects a bracket error for the LSM9DS0 IMU 

Switches the probe of the accel and gyro so they boot correctly (was
failing the WHOAMI with a switched result)
mission-4.1.18
AndersonRayner 9 years ago committed by Lucas De Marchi
parent
287a3367ad
commit
c9d5c548a6
1 changed files with 3 additions and 3 deletions
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  1. 6
      libraries/AP_InertialSensor/AP_InertialSensor.cpp

6
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -539,9 +539,9 @@ AP_InertialSensor::detect_backends(void)
#elif HAL_INS_DEFAULT == HAL_INS_FLYMAPLE #elif HAL_INS_DEFAULT == HAL_INS_FLYMAPLE
_add_backend(AP_InertialSensor_Flymaple::detect(*this)); _add_backend(AP_InertialSensor_Flymaple::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_LSM9DS0 #elif HAL_INS_DEFAULT == HAL_INS_LSM9DS0
_add_backend(AP_InertialSensor_LSM9DS0::probe(*this), _add_backend(AP_InertialSensor_LSM9DS0::probe(*this,
hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), hal.spi->get_device(HAL_INS_LSM9DS0_G_NAME),
hal.spi->get_device(HAL_INS_LSM9DS0_G_NAME)); hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)));
#elif HAL_INS_DEFAULT == HAL_INS_L3G4200D #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)); _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_RASPILOT #elif HAL_INS_DEFAULT == HAL_INS_RASPILOT

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