From 7832f1a1b6a7d25c857a0fe64a11a0db9091e46e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 1 Nov 2016 21:34:59 +1100
Subject: [PATCH] AP_InertialSensor: allow for in-tree drivers for PX4

---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index f5bdf3c445..df38b9505e 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -7,6 +7,7 @@
 #include <AP_Math/AP_Math.h>
 #include <AP_Notify/AP_Notify.h>
 #include <AP_Vehicle/AP_Vehicle.h>
+#include <AP_BoardConfig/AP_BoardConfig.h>
 
 #include "AP_InertialSensor.h"
 #include "AP_InertialSensor_BMI160.h"
@@ -587,6 +588,17 @@ AP_InertialSensor::detect_backends(void)
     _add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU60x0_I2C_BUS, HAL_INS_MPU60x0_I2C_ADDR)));
     _add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
 #elif HAL_INS_DEFAULT == HAL_INS_PX4 || HAL_INS_DEFAULT == HAL_INS_VRBRAIN
+    if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V1) {
+        _add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
+    } else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V2) {
+        _add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
+        _add_backend(AP_InertialSensor_LSM9DS0::probe(*this,
+                                                      hal.spi->get_device(HAL_INS_LSM9DS0_G_NAME),
+                                                      hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)));
+    } else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V4) {
+        _add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
+    }
+    // also add any PX4 backends (eg. canbus sensors)
     _add_backend(AP_InertialSensor_PX4::detect(*this));
 #elif HAL_INS_DEFAULT == HAL_INS_MPU9250_SPI
     _add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));