From 2e4151d14e7eed48a36a5401618c6a0f2db3a4e7 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 3 Nov 2016 21:03:57 +1100 Subject: [PATCH] AP_Compass: enable lsm303d mag on FMUv2 --- libraries/AP_Compass/AP_Compass.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp index e62989d700..59ef806c8d 100644 --- a/libraries/AP_Compass/AP_Compass.cpp +++ b/libraries/AP_Compass/AP_Compass.cpp @@ -499,6 +499,10 @@ void Compass::_detect_backends(void) _add_backend(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_HMC5843_I2C_ADDR), true), AP_Compass_HMC5843::name, true); } + if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V2) { + _add_backend(AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)), + AP_Compass_LSM303D::name, false); + } // also add any px4 level drivers (for canbus magnetometers) _add_backend(AP_Compass_PX4::detect(*this), nullptr, false); #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QURT