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Implement the external mag param in a fashion that retains backward compatibility

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This commit is contained in:
Lorenz Meier
2014-07-16 14:58:43 +02:00
parent 4f4c6df370
commit c6c9c49823
3 changed files with 38 additions and 26 deletions
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ROMFS/px4fmu_common/init.d/rc.sensors
+25 -15
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@@ -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"
fi
if ver hwcmp PX4FMU_V2
then
if lsm303d start
then
echo "[init] Using internal LSM303D"
fi
echo "Internal HMC5883"
fi
else
if hmc5883 -X start
# Use only external as primary
if param compare SENS_EXT_MAG 1
then
echo "[init] Using external HMC5883"
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
if lsm303d start
then
echo "Internal LSM303D"
fi
fi