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Commit dc410a4b authored by Staroselskii Georgii's avatar Staroselskii Georgii Committed by Andrew Tridgell
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Plane: added AK8963 support

parent 9f54c492
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ArduPlane/ArduPlane.pde
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View file @ dc410a4b
...@@ -217,6 +217,8 @@ static AP_Compass_VRBRAIN compass; ...@@ -217,6 +217,8 @@ static AP_Compass_VRBRAIN compass;
static AP_Compass_HMC5843 compass; static AP_Compass_HMC5843 compass;
#elif CONFIG_COMPASS == HAL_COMPASS_HIL #elif CONFIG_COMPASS == HAL_COMPASS_HIL
static AP_Compass_HIL compass; static AP_Compass_HIL compass;
#elif CONFIG_COMPASS == HAL_COMPASS_AK8963
static AP_Compass_AK8963_MPU9250 compass;
#else #else
#error Unrecognized CONFIG_COMPASS setting #error Unrecognized CONFIG_COMPASS setting
#endif #endif
......
ArduPlane/setup.pde
+ 3
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View file @ dc410a4b
...@@ -385,6 +385,9 @@ static void report_compass() ...@@ -385,6 +385,9 @@ static void report_compass()
case AP_COMPASS_TYPE_VRBRAIN: case AP_COMPASS_TYPE_VRBRAIN:
cliSerial->println_P(PSTR("VRBRAIN")); cliSerial->println_P(PSTR("VRBRAIN"));
break; break;
case AP_COMPASS_TYPE_AK8963_MPU9250:
cliSerial->println_P(PSTR("AK8963_MPU9250"));
break;
default: default:
cliSerial->println_P(PSTR("(unknown)")); cliSerial->println_P(PSTR("(unknown)"));
break; break;
......
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