From 2aa73c427bcdc2b1c50818cbad616b5373619a7a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 2 Apr 2015 14:35:52 -0700
Subject: [PATCH] PX4: enable temperature compensation in hmc5883 driver

---
 mk/PX4/ROMFS/init.d/rc.APM | 16 ++++------------
 1 file changed, 4 insertions(+), 12 deletions(-)

diff --git a/mk/PX4/ROMFS/init.d/rc.APM b/mk/PX4/ROMFS/init.d/rc.APM
index a9d663f128..7065d03a52 100644
--- a/mk/PX4/ROMFS/init.d/rc.APM
+++ b/mk/PX4/ROMFS/init.d/rc.APM
@@ -222,17 +222,9 @@ fi
 if [ $BOARD == FMUv1 ]
 then
     echo "Starting FMUv1 sensors"
-    if hmc5883 start
+    if hmc5883 -C -T start
     then
         echo "hmc5883 started OK"
-        if hmc5883 calibrate
-        then
-          echo "hmc5883 calibrate OK"
-        else 
-          echo "hmc5883 calibrate failed"
-          echo "hmc5883 calibrate failed" >> $logfile
-          tone_alarm MSBBB
-        fi
     else
         echo "hmc5883 start failed"
         echo "hmc5883 start failed" >> $logfile
@@ -253,13 +245,13 @@ then
     fi
 else
     echo "Starting FMUv2 sensors"
-    if hmc5883 -C -X start
+    if hmc5883 -C -T -X start
     then
         echo "Have external hmc5883"
     else
         echo "No external hmc5883"
     fi
-    if hmc5883 -C -I -R 4 start
+    if hmc5883 -C -T -I -R 4 start
     then
         echo "Have internal hmc5883"
     else
@@ -302,7 +294,7 @@ else
                echo "No MPU6000" >> $logfile
                sh /etc/init.d/rc.error
         fi
-        if hmc5883 -C -S -R 8 start
+        if hmc5883 -C -T -S -R 8 start
         then
                echo "Found SPI hmc5883"
         fi