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@ -666,12 +666,12 @@ AP_InertialSensor::detect_backends(void)
@@ -666,12 +666,12 @@ AP_InertialSensor::detect_backends(void)
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_add_backend(AP_InertialSensor_HIL::detect(*this)); |
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#elif HAL_INS_DEFAULT == HAL_INS_MPU60XX_SPI && defined(HAL_INS_DEFAULT_ROTATION) |
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_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME), |
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HAL_INS_DEFAULT_ROTATION); |
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HAL_INS_DEFAULT_ROTATION)); |
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#elif HAL_INS_DEFAULT == HAL_INS_MPU60XX_SPI |
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_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME))); |
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#elif HAL_INS_DEFAULT == HAL_INS_MPU60XX_I2C && defined(HAL_INS_DEFAULT_ROTATION) |
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_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU60x0_I2C_BUS, HAL_INS_MPU60x0_I2C_ADDR), |
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HAL_INS_DEFAULT_ROTATION); |
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HAL_INS_DEFAULT_ROTATION)); |
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#elif HAL_INS_DEFAULT == HAL_INS_MPU60XX_I2C |
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_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU60x0_I2C_BUS, HAL_INS_MPU60x0_I2C_ADDR))); |
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#elif HAL_INS_DEFAULT == HAL_INS_BH |
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