Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 13:25:30 +03:00
Code Issues Wiki Activity

COLIBRI RACE support

Browse source
This commit is contained in:
Larry (TBS) 2015-06-09 19:06:52 +08:00 • committed by Dominic Clifton
parent a373c095e3
commit 3b1f423c49
20 changed files with 819 additions and 7 deletions
Download patch file Download diff file Expand all files Collapse all files

5
src/main/sensors/initialisation.c Normal file → Executable file
View file

@ -36,6 +36,7 @@
#include "drivers/accgyro_l3gd20.h"
#include "drivers/accgyro_lsm303dlhc.h"
#include "drivers/bus_spi.h"
#include "drivers/accgyro_spi_mpu6000.h"
#include "drivers/accgyro_spi_mpu6500.h"
@ -74,6 +75,7 @@ extern acc_t acc;
uint8_t detectedSensors[MAX_SENSORS_TO_DETECT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE };
const mpu6050Config_t *selectMPU6050Config(void)
{
#ifdef NAZE
@ -225,6 +227,9 @@ bool detectGyro(uint16_t gyroLpf)
case GYRO_SPI_MPU6500:
#ifdef USE_GYRO_SPI_MPU6500
#ifdef USE_HARDWARE_REVISION_DETECTION
spiBusInit();
#endif
#ifdef NAZE
if (hardwareRevision == NAZE32_SP && mpu6500SpiGyroDetect(&gyro, gyroLpf)) {
#ifdef GYRO_SPI_MPU6500_ALIGN