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AP_InertialSensor: adjust the instance if External AHRS is enabled #28754

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AP_InertialSensor: adjust the instance if External AHRS is enabled #28754

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13 changes: 12 additions & 1 deletion libraries/AP_InertialSensor/AP_InertialSensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1142,8 +1142,19 @@ AP_InertialSensor::detect_backends(void)
// backend count. Its important the IMUs are listed in order of precedence globally
// (i.e. INSTANCE:0 IMUs are listed before INSTANCE:1 IMUs) and locally (i.e. IMUs
// on the same bus are listed in order of detection precedence)
// if External AHRS is enabled, we need to adjust the instance number since External AHRS is made the first IMU

#define ADD_BACKEND_INSTANCE(x, instance) if (instance == _backend_count) { ADD_BACKEND(x); }
#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

adjusted_instance += 1; \
} \
} \
if (adjusted_instance == _backend_count) { \
ADD_BACKEND(x); \
} \
} while (0)

// Can be used by adding AUX:<devid> keyword in hwdef.
// AUX:<devid> keyword is used to check for the presence of the sensor
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