From e6c8653302131108291752c13ba1acd55679a914 Mon Sep 17 00:00:00 2001
From: LukeMike <luca.micheletti.laser@gmail.com>
Date: Wed, 10 Aug 2016 15:37:34 +0200
Subject: [PATCH] AP_IRLock_PX4: enabled sensor driver startup on bus2 if don't
 start on bus1

---
 libraries/AP_IRLock/AP_IRLock_PX4.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/libraries/AP_IRLock/AP_IRLock_PX4.cpp b/libraries/AP_IRLock/AP_IRLock_PX4.cpp
index ee3e44ecd8..fda41b6db0 100644
--- a/libraries/AP_IRLock/AP_IRLock_PX4.cpp
+++ b/libraries/AP_IRLock/AP_IRLock_PX4.cpp
@@ -41,10 +41,19 @@ void AP_IRLock_PX4::init()
 {
     if (!AP_BoardConfig::px4_start_driver(irlock_main, "irlock", "start")) {
         hal.console->printf("irlock driver start failed\n");
+#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
+        if (!AP_BoardConfig::px4_start_driver(irlock_main, "irlock", "start -b 2")) {
+            hal.console->printf("irlock driver start failed (bus2)\n");
+        } else {
+            // give it time to initialise
+            hal.scheduler->delay(500);
+        }
+#endif
     } else {
         // give it time to initialise
         hal.scheduler->delay(500);
     }
+
     _fd = open(IRLOCK0_DEVICE_PATH, O_RDONLY);
     if (_fd < 0) {
         hal.console->printf("Unable to open " IRLOCK0_DEVICE_PATH "\n");