From ca3627c140303be677402f1c763c9a310d5a733b Mon Sep 17 00:00:00 2001 From: Kevin Lopez Alvarez Date: Sat, 15 Jul 2017 15:13:44 +1000 Subject: [PATCH] AP_InertialSensor: add ppro support --- libraries/AP_InertialSensor/AP_InertialSensor.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp index 98cc08e09e..781d965315 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp @@ -726,6 +726,12 @@ AP_InertialSensor::detect_backends(void) _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180_YAW_90)); break; + case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO: + _fast_sampling_mask.set_default(3); + _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_ICM20608_NAME), ROTATION_ROLL_180_YAW_90)); + _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180_YAW_90)); + break; + case AP_BoardConfig::PX4_BOARD_PHMINI: // PHMINI uses ICM20608 on the ACCEL_MAG device and a MPU9250 on the old MPU6000 CS line _fast_sampling_mask.set_default(3);