diff options
Diffstat (limited to 'ROMFS/px4fmu_common/init.d/rc.sensors')
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.sensors | 27 |
1 files changed, 17 insertions, 10 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index be54ea98b..f50e9aff7 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -6,12 +6,6 @@ ms5611 start adc start -# Mag might be external -if hmc5883 start -then - echo "[init] Using HMC5883" -fi - if mpu6000 start then echo "[init] Using MPU6000" @@ -22,12 +16,25 @@ then echo "[init] Using L3GD20(H)" fi -if ver hwcmp PX4FMU_V2 +# Use selected (internal/external) magnetometer +if param compare SYS_EXT_MAG 0 then - # IMPORTANT: EXTERNAL BUSES SHOULD BE SCANNED FIRST - if lsm303d start + if hmc5883 -I start + then + echo "[init] Using internal HMC5883" + fi + + if ver hwcmp PX4FMU_V2 + then + if lsm303d start + then + echo "[init] Using internal LSM303D" + fi + fi +else + if hmc5883 -X start then - echo "[init] Using LSM303D" + echo "[init] Using external HMC5883" fi fi |