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AP_InertialSensor: change if statements to switch statement 

No functional change
master
murata 8 years ago committed by Randy Mackay
parent
398b7b83dd
commit
d56bad781f
1 changed files with 18 additions and 6 deletions
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  1. 24
      libraries/AP_InertialSensor/AP_InertialSensor.cpp

24
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -689,16 +689,20 @@ AP_InertialSensor::detect_backends(void) @@ -689,16 +689,20 @@ AP_InertialSensor::detect_backends(void)
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
#elif HAL_INS_DEFAULT == HAL_INS_PX4 || HAL_INS_DEFAULT == HAL_INS_VRBRAIN
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PX4V1) {
switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PX4V1:
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
break;
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK) {
case AP_BoardConfig::PX4_BOARD_PIXHAWK:
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME), ROTATION_ROLL_180));
_add_backend(AP_InertialSensor_LSM9DS0::probe(*this,
hal.spi->get_device(HAL_INS_LSM9DS0_G_NAME),
hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME),
ROTATION_ROLL_180, ROTATION_ROLL_180_YAW_270));
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2) {
break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
// older Pixhawk2 boards have the MPU6000 instead of MPU9250
_fast_sampling_mask.set_default(1);
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_EXT_NAME), ROTATION_PITCH_180));
@ -707,20 +711,28 @@ AP_InertialSensor::detect_backends(void) @@ -707,20 +711,28 @@ AP_InertialSensor::detect_backends(void)
hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME),
ROTATION_ROLL_180_YAW_270, ROTATION_ROLL_180_YAW_90));
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_YAW_270));
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXRACER) {
break;
case AP_BoardConfig::PX4_BOARD_PIXRACER:
_fast_sampling_mask.set_default(3);
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_ICM20608_NAME), ROTATION_ROLL_180_YAW_90));
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180_YAW_90));
break;
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PHMINI) {
case AP_BoardConfig::PX4_BOARD_PHMINI:
// PHMINI uses ICM20608 on the ACCEL_MAG device and a MPU9250 on the old MPU6000 CS line
_fast_sampling_mask.set_default(3);
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_ICM20608_AM_NAME), ROTATION_ROLL_180));
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180));
break;
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PH2SLIM) {
case AP_BoardConfig::PX4_BOARD_PH2SLIM:
_fast_sampling_mask.set_default(1);
_add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_YAW_270));
break;
default:
break;
}
// also add any PX4 backends (eg. canbus sensors)
_add_backend(AP_InertialSensor_PX4::detect(*this));

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