From 88e24dd8bdf3f36b0e66a33c6680f1eda9b000c5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 4 Nov 2016 17:57:28 +1100
Subject: [PATCH] AP_BoardConfig: added board type 103

for PH2 in-tree drivers
---
 libraries/AP_BoardConfig/AP_BoardConfig.h |  1 +
 libraries/AP_BoardConfig/px4_drivers.cpp  | 23 ++++++++++++-----------
 2 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index d82fc792ee..0ced0a5814 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -57,6 +57,7 @@ public:
 #endif
         PX4_BOARD_TEST_V1 = 101,
         PX4_BOARD_TEST_V2 = 102,
+        PX4_BOARD_TEST_V3 = 103,
         PX4_BOARD_TEST_V4 = 104,
     };
 #endif
diff --git a/libraries/AP_BoardConfig/px4_drivers.cpp b/libraries/AP_BoardConfig/px4_drivers.cpp
index 2833bd2e39..18b9d89f1f 100644
--- a/libraries/AP_BoardConfig/px4_drivers.cpp
+++ b/libraries/AP_BoardConfig/px4_drivers.cpp
@@ -492,17 +492,6 @@ void AP_BoardConfig::px4_start_fmuv4_sensors(void)
  */
 void AP_BoardConfig::px4_start_common_sensors(void)
 {
-#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
-    /*
-      this works around an issue with some FMUv4 hardware (eg. copies
-      of the Pixracer) which have incorrect components leading to
-      sensor brownout on boot
-     */
-    if (px4_start_driver(fmu_main, "fmu", "sensor_reset 20")) {
-        printf("FMUv4 sensor reset complete\n");        
-    }
-#endif
-
     if (px4_start_driver(ms5611_main, "ms5611", "start")) {
         printf("ms5611 started OK\n");
     } else {
@@ -673,8 +662,20 @@ void AP_BoardConfig::vrx_start_optional_sensors(void)
 
 void AP_BoardConfig::px4_setup_drivers(void)
 {
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
+    /*
+      this works around an issue with some FMUv4 hardware (eg. copies
+      of the Pixracer) which have incorrect components leading to
+      sensor brownout on boot
+     */
+    if (px4_start_driver(fmu_main, "fmu", "sensor_reset 20")) {
+        printf("FMUv4 sensor reset complete\n");        
+    }
+#endif
+
     if (px4.board_type == PX4_BOARD_TEST_V1 ||
         px4.board_type == PX4_BOARD_TEST_V2 ||
+        px4.board_type == PX4_BOARD_TEST_V3 ||
         px4.board_type == PX4_BOARD_TEST_V4) {
         // use in-tree drivers
         printf("Using in-tree drivers\n");