AP_Compass: fixed external handling for BMM150

libraries/AP_Compass/AP_Compass.cpp

@@ -1167,7 +1167,7 @@ void Compass::_probe_external_i2c_compasses(void)
     FOREACH_I2C_EXTERNAL(i) {
         for (uint8_t addr=BMM150_I2C_ADDR_MIN; addr <= BMM150_I2C_ADDR_MAX; addr++) {
             ADD_BACKEND(DRIVER_BMM150,
-                        AP_Compass_BMM150::probe(GET_I2C_DEVICE(i, addr), ROTATION_NONE));
+                        AP_Compass_BMM150::probe(GET_I2C_DEVICE(i, addr), true, ROTATION_NONE));
         }
     }
 #endif // HAL_BUILD_AP_PERIPH
@@ -1235,7 +1235,7 @@ void Compass::_detect_backends(void)
 
     case AP_BoardConfig::PX4_BOARD_PCNC1:
         ADD_BACKEND(DRIVER_BMM150,
-                    AP_Compass_BMM150::probe(GET_I2C_DEVICE(0, 0x10), ROTATION_NONE));
+                    AP_Compass_BMM150::probe(GET_I2C_DEVICE(0, 0x10), false, ROTATION_NONE));
         break;
     case AP_BoardConfig::VRX_BOARD_BRAIN54: {
         // external i2c bus

libraries/AP_Compass/AP_Compass_BMM150.cpp

@@ -63,12 +63,12 @@
 
 extern const AP_HAL::HAL &hal;
 
-AP_Compass_Backend *AP_Compass_BMM150::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, enum Rotation rotation)
+AP_Compass_Backend *AP_Compass_BMM150::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, bool force_external, enum Rotation rotation)
 {
     if (!dev) {
         return nullptr;
     }
-    AP_Compass_BMM150 *sensor = new AP_Compass_BMM150(std::move(dev), rotation);
+    AP_Compass_BMM150 *sensor = new AP_Compass_BMM150(std::move(dev), force_external, rotation);
     if (!sensor || !sensor->init()) {
         delete sensor;
         return nullptr;
@@ -77,8 +77,8 @@ AP_Compass_Backend *AP_Compass_BMM150::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> d
     return sensor;
 }
 
-AP_Compass_BMM150::AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev, enum Rotation rotation)
-    : _dev(std::move(dev)), _rotation(rotation)
+AP_Compass_BMM150::AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev, bool force_external, enum Rotation rotation)
+    : _dev(std::move(dev)), _rotation(rotation), _force_external(force_external)
 {
 }
 
@@ -219,6 +219,9 @@ bool AP_Compass_BMM150::init()
 
     set_rotation(_compass_instance, _rotation);
 
+    if (_force_external) {
+        set_external(_compass_instance, true);
+    }
 
     _perf_err = hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "BMM150_err");
 

libraries/AP_Compass/AP_Compass_BMM150.h

@@ -30,14 +30,14 @@
 class AP_Compass_BMM150 : public AP_Compass_Backend
 {
 public:
-    static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, enum Rotation rotation);
+    static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, bool force_external, enum Rotation rotation);
 
     void read() override;
 
     static constexpr const char *name = "BMM150";
 
 private:
-    AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev, enum Rotation rotation);
+    AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev, bool force_external, enum Rotation rotation);
 
     /**
      * Device periodic callback to read data from the sensor.
@@ -69,4 +69,5 @@ private:
     uint32_t _last_read_ms;
     AP_HAL::Util::perf_counter_t _perf_err;
     enum Rotation _rotation;
+    bool _force_external;
 };