AP_InertialSensor: adjust the instance if External AHRS is enabled #28754
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bugobliterator
approved these changes
Nov 27, 2024
tridge
requested changes
Dec 3, 2024
| #define ADD_BACKEND_INSTANCE(x, instance) do { \ | ||
| uint8_t adjusted_instance = instance; \ | ||
| if (HAL_EXTERNAL_AHRS_ENABLED) { \ | ||
| if (AP::externalAHRS().get_port(AP_ExternalAHRS::AvailableSensor::IMU) >= 0) { \ |
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this probably won't compile with --disable-EXTERNALAHRS
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This allows CubeOrange Plus to be able to use 3 IMUs along with an ExternalNav sensor. Currently, the first IMU gets replaced by the ExternalNav sensor and isn't initialized.