AP_InertialSensor: setup for MPU9250 support on PX4

10 years ago · dc455a5fd6
1 changed files with 2 additions and 0 deletions
--- a/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
@ -103,6 +103,7 @@ bool AP_InertialSensor_PX4::_init_sensor(void)
				@@ -103,6 +103,7 @@ bool AP_InertialSensor_PX4::_init_sensor(void)

        switch(devid) {
            case DRV_GYR_DEVTYPE_MPU6000:
+            case DRV_GYR_DEVTYPE_MPU9250:
                // hardware LPF off
                ioctl(fd, GYROIOCSHWLOWPASS, 256);
                // khz sampling
@ -140,6 +141,7 @@ bool AP_InertialSensor_PX4::_init_sensor(void)
				@@ -140,6 +141,7 @@ bool AP_InertialSensor_PX4::_init_sensor(void)

        switch(devid) {
            case DRV_ACC_DEVTYPE_MPU6000:
+            case DRV_ACC_DEVTYPE_MPU9250:
                // hardware LPF off
                ioctl(fd, ACCELIOCSHWLOWPASS, 256);
                // khz sampling