From ea2dc9b83117d1e6159dbf01db9febf5475e416c Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 4 Mar 2018 21:05:51 +1100 Subject: [PATCH] AP_InertialSensor: added OMNIBUSF7V2 INS sensors a dual-IMU board --- libraries/AP_InertialSensor/AP_InertialSensor.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp index 1f3a87d68d..56a7aab588 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp @@ -854,6 +854,9 @@ AP_InertialSensor::detect_backends(void) HAL_INS_DEFAULT_A_ROTATION)); #elif HAL_INS_DEFAULT == HAL_INS_ICM20789_SPI ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("icm20789"))); +#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF7V2 + ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("mpu6000"), ROTATION_NONE)); + ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("mpu6500"), ROTATION_NONE)); #elif HAL_INS_DEFAULT == HAL_INS_NONE // no INS device #else