- _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_EXT_NAME), ROTATION_PITCH_180));
- _add_backend(AP_InertialSensor_LSM9DS0::probe(*this,
- hal.spi->get_device(HAL_INS_LSM9DS0_EXT_G_NAME),
- hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME),
- ROTATION_ROLL_180_YAW_270,
- ROTATION_ROLL_180_YAW_90,
- ROTATION_ROLL_180_YAW_90));
- _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_YAW_270));
- break;
-
- case AP_BoardConfig::PX4_BOARD_PIXRACER:
- _fast_sampling_mask.set_default(3);
- _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_ICM20608_NAME), ROTATION_ROLL_180_YAW_90));
- _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180_YAW_90));
- break;
-
- case AP_BoardConfig::PX4_BOARD_PHMINI:
- // PHMINI uses ICM20608 on the ACCEL_MAG device and a MPU9250 on the old MPU6000 CS line
- _fast_sampling_mask.set_default(3);
- _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_ICM20608_AM_NAME), ROTATION_ROLL_180));
- _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180));