Plane: added AK8963 support

10 years ago · dc410a4b42
2 changed files with 5 additions and 0 deletions
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@ -217,6 +217,8 @@ static AP_Compass_VRBRAIN compass;
				@@ -217,6 +217,8 @@ static AP_Compass_VRBRAIN compass;
 static AP_Compass_HMC5843 compass;
 #elif CONFIG_COMPASS == HAL_COMPASS_HIL
 static AP_Compass_HIL compass;
+#elif CONFIG_COMPASS == HAL_COMPASS_AK8963
+static AP_Compass_AK8963_MPU9250 compass;
 #else
 #error Unrecognized CONFIG_COMPASS setting
 #endif
--- a/ArduPlane/setup.pde
+++ b/ArduPlane/setup.pde
@ -385,6 +385,9 @@ static void report_compass()
				@@ -385,6 +385,9 @@ static void report_compass()
    case AP_COMPASS_TYPE_VRBRAIN:
        cliSerial->println_P(PSTR("VRBRAIN"));
        break;
+    case AP_COMPASS_TYPE_AK8963_MPU9250:
+        cliSerial->println_P(PSTR("AK8963_MPU9250"));
+        break;
    default:
        cliSerial->println_P(PSTR("(unknown)"));
        break;