px4-same70xplained-v1:ROMFS changes

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -131,6 +131,36 @@ then
 	fi
 fi
 
+if ver hwcmp PX4_SAME70XPLAINED_V1
+then
+	# External I2C bus
+	if hmc5883 -C -T -X start
+	then
+	fi
+
+	set BOARD_FMUV3 false
+
+	# Internal SPI bus mpu9250 is rotated 90 deg yaw
+	if mpu9250 -R 2 start
+	then
+	fi
+fi
+
+if ver hwcmp PX4_SAME70XPLAINED_V1
+then
+	# External I2C bus
+	if hmc5883 -C -T -X start
+	then
+	fi
+
+	set BOARD_FMUV3 false
+
+	# Internal SPI bus mpu9250 is rotated 90 deg yaw
+	if mpu9250 -R 2 start
+	then
+	fi
+fi
+
 if ver hwcmp PX4FMU_V4
 then
 	# External I2C bus

ROMFS/px4fmu_common/init.d/rcS

@@ -404,8 +404,13 @@ then
 		set OUTPUT_MODE hil
 		sensors start -h
 		commander start --hil
+	else
+		if ver hwcmp PX4_SAME70XPLAINED_V1
+		then
+			gps start -d /dev/ttyS2
 		else
 			gps start
+		fi
 		sh /etc/init.d/rc.sensors
 		commander start
 	fi
@@ -421,6 +426,9 @@ then
 		set OUTPUT_MODE uavcan_esc
 	fi
 
+	if ver hwcmp PX4_SAME70XPLAINED_V1
+	then
+	else
 		# Sensors on the PWM interface bank
 		if param compare SENS_EN_LL40LS 1
 		then
@@ -445,6 +453,7 @@ then
 			param set CAM_FBACK_MODE 1
 			camera_feedback start
 		fi
+	fi
 
 	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
 	if [ $OUTPUT_MODE != none ]