Copter: switch Linux to L3G4200D ins driver

12 years ago · 6145924481
2 changed files with 3 additions and 1 deletions
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@ -229,6 +229,8 @@ static AP_InertialSensor_HIL ins;
				@@ -229,6 +229,8 @@ static AP_InertialSensor_HIL ins;
 static AP_InertialSensor_PX4 ins;
 #elif CONFIG_IMU_TYPE == CONFIG_IMU_FLYMAPLE
 AP_InertialSensor_Flymaple ins;
+#elif CONFIG_IMU_TYPE == CONFIG_IMU_L3G4200D
+AP_InertialSensor_L3G4200D ins;
 #endif

 #if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@ -82,7 +82,7 @@
				@@ -82,7 +82,7 @@
 # define MAGNETOMETER ENABLED
 # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
 #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
- # define CONFIG_IMU_TYPE CONFIG_IMU_SITL
+ # define CONFIG_IMU_TYPE CONFIG_IMU_L3G4200D
 # define CONFIG_BARO AP_BARO_BMP085
 # define CONFIG_COMPASS  AP_COMPASS_HMC5843
 # define CONFIG_ADC        DISABLED