From 120064b55d864b637fe368ade5b4f4c45dab6593 Mon Sep 17 00:00:00 2001
From: David Sidrane <david_s5@nscdg.com>
Date: Tue, 13 Dec 2016 15:24:04 -1000
Subject: [PATCH] WIP:Startup for FMUV5

   Incomplete changes to startup script for FMUv5.
   See "Place holder Need" in ROMFS/px4fmu_common/init.d/rc.sensors
---
 ROMFS/px4fmu_common/init.d/rc.sensors | 26 ++++++++++++++++++++++++++
 ROMFS/px4fmu_common/init.d/rcS        | 11 +++++++++++
 2 files changed, 37 insertions(+)

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 7e1c53cf23..9288b50cfd 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -322,6 +322,32 @@ then
 	fi
 fi
 
+if ver hwcmp PX4FMU_V5
+then
+	# Internal SPI bus ICM-20602
+# Place holder Need 20602 Support added
+	if mpu6000 -R 2 -T 20608 start
+	then
+	fi
+
+	# Internal SPI bus ICM-20689
+# Place holder Need 20689 Support added
+	if mpu6000 -R 2 -T 20608 start
+	then
+	fi
+
+	# Internal SPI bus BMI055
+# Place holder Need BMI055 Support added
+	if bmi055 -R 2 start
+	then
+	fi
+
+	# Possible external compasses
+	if hmc5883 -X start
+	then
+	fi
+fi
+
 if meas_airspeed start
 then
 else
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index a3fa9d5ba2..8f84b3a736 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -196,6 +196,12 @@ then
 			set USE_IO no
 		fi
 
+		if ver hwcmp PX4FMU_V5
+		then
+			set USE_IO no
+			set MAVLINK_COMPANION_DEVICE /dev/ttyS3
+		fi
+
 		if ver hwcmp MINDPX_V2
 		then
 			set USE_IO no
@@ -249,6 +255,11 @@ then
 		set MIXER_AUX none
 	fi
 
+	if ver hwcmp PX4FMU_V5
+	then
+		set MIXER_AUX none
+	fi
+
 	if ver hwcmp AEROFC_V1
 	then
 		set MIXER_AUX none