bizhang_-obav/boards/px4/fmu-v4/init/rc.board_sensors

#!/bin/sh
#
# PX4 FMUv4 specific board sensors init
#------------------------------------------------------------------------------

board_adc start

# We know there are sketchy boards out there
# as chinese companies produce Pixracers without
# fully understanding the critical parts of the
# schematic and BOM, leading to sensor brownouts
# on boot. Original Pixracers following the
# open hardware design do not require this.
pwm_out sensor_reset 50

# Internal SPI
ms5611 -s start

# hmc5883 internal SPI bus is rotated 90 deg yaw
if ! hmc5883 -T -s -R 2 start
then
	# lis3mdl internal SPI bus is rotated 90 deg yaw
	lis3mdl -s start
fi

# Start either ICM2060X. They are both connected to the same SPI bus and use the same
# chip select pin. There are different boards with either one of them and the WHO_AM_I register
# will prevent the incorrect driver from a successful initialization.

# ICM20602 internal SPI bus ICM-20608-G
if ! icm20602 -s -R 8 start
then
	# ICM20608 internal SPI bus ICM-20602-G
	icm20608g -s -R 8 start
fi

# For Teal One airframe
if param compare SYS_AUTOSTART 4250
then
	mpu6500 -s -R 0 start
else
	# mpu9250 internal SPI bus mpu9250
	mpu9250 -s -R 8 start
fi