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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-16 14:58:43 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-16 14:58:43 +0200 |
| commit | c6c9c49823a4c19e156f4ce70bde781890ab04f9 (patch) | |
| tree | 87c70e69db1e25f057b4bec1809f08b6b23448b4 /ROMFS | |
| parent | 4f4c6df370ae952bd3816a10daca62a6627a6658 (diff) | |
| download | px4-firmware-c6c9c49823a4c19e156f4ce70bde781890ab04f9.tar.gz px4-firmware-c6c9c49823a4c19e156f4ce70bde781890ab04f9.tar.bz2 px4-firmware-c6c9c49823a4c19e156f4ce70bde781890ab04f9.zip | |
Implement the external mag param in a fashion that retains backward compatibility
Diffstat (limited to 'ROMFS')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.sensors | 34 |
1 files changed, 22 insertions, 12 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index f50e9aff7..121dc89d3 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -8,33 +8,43 @@ adc start if mpu6000 start then - echo "[init] Using MPU6000" + echo "Internal MPU6000" fi if l3gd20 start then - echo "[init] Using L3GD20(H)" + echo "Internal L3GD20(H)" fi -# Use selected (internal/external) magnetometer -if param compare SYS_EXT_MAG 0 +# MAG selection +if param compare SENS_EXT_MAG 2 then if hmc5883 -I start then - echo "[init] Using internal HMC5883" + echo "Internal HMC5883" fi - - if ver hwcmp PX4FMU_V2 +else + # Use only external as primary + if param compare SENS_EXT_MAG 1 then - if lsm303d start + if hmc5883 -X start + then + echo "External HMC5883" + fi + else + # auto-detect the primary, prefer external + if hmc5883 start then - echo "[init] Using internal LSM303D" + echo "Default HMC5883" fi fi -else - if hmc5883 -X start +fi + +if ver hwcmp PX4FMU_V2 +then + if lsm303d start then - echo "[init] Using external HMC5883" + echo "Internal LSM303D" fi fi |