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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-16 15:00:58 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-16 15:00:58 +0200 |
| commit | 11eeb7466d80452f18fd036cc72899a2ddbd33e9 (patch) | |
| tree | 87a79ae904d3c7b4e105ff1e53bb8ce255bc42ff /ROMFS | |
| parent | 43bc2c3ef2a867a015e7198c797d089d6252fdde (diff) | |
| parent | c6c9c49823a4c19e156f4ce70bde781890ab04f9 (diff) | |
| download | px4-firmware-11eeb7466d80452f18fd036cc72899a2ddbd33e9.tar.gz px4-firmware-11eeb7466d80452f18fd036cc72899a2ddbd33e9.tar.bz2 px4-firmware-11eeb7466d80452f18fd036cc72899a2ddbd33e9.zip | |
Merge branch 'ext_mag_param' into logging
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.sensors | 35 |
1 files changed, 26 insertions, 9 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index be54ea98b..121dc89d3 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -6,28 +6,45 @@ ms5611 start adc start -# Mag might be external -if hmc5883 start +if mpu6000 start then - echo "[init] Using HMC5883" + echo "Internal MPU6000" fi -if mpu6000 start +if l3gd20 start then - echo "[init] Using MPU6000" + echo "Internal L3GD20(H)" fi -if l3gd20 start +# MAG selection +if param compare SENS_EXT_MAG 2 then - echo "[init] Using L3GD20(H)" + if hmc5883 -I start + then + echo "Internal HMC5883" + fi +else + # Use only external as primary + if param compare SENS_EXT_MAG 1 + then + if hmc5883 -X start + then + echo "External HMC5883" + fi + else + # auto-detect the primary, prefer external + if hmc5883 start + then + echo "Default HMC5883" + fi + fi fi if ver hwcmp PX4FMU_V2 then - # IMPORTANT: EXTERNAL BUSES SHOULD BE SCANNED FIRST if lsm303d start then - echo "[init] Using LSM303D" + echo "Internal LSM303D" fi fi |