From 4561cf2ce64e6c40968f842023b740403561481f Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Fri, 27 May 2022 15:26:59 -0400
Subject: [PATCH] boards: pixhawk 2 cube skip starting low quality l3gd20 gyro
 to save memory and cpu

 - free memory is getting tight on these older boards (depending on
configuratoin) and the pixhawk 2 cube still has 2 other superior IMUs, so this is just
dropping dead weight
---
 boards/px4/fmu-v2/init/rc.board_sensors  | 15 ++++++++-------
 boards/px4/fmu-v3/init/rc.board_defaults |  1 +
 boards/px4/fmu-v3/init/rc.board_sensors  | 15 ++++++++-------
 3 files changed, 17 insertions(+), 14 deletions(-)

diff --git a/boards/px4/fmu-v2/init/rc.board_sensors b/boards/px4/fmu-v2/init/rc.board_sensors
index 8aecc96c34..f9a0c7217a 100644
--- a/boards/px4/fmu-v2/init/rc.board_sensors
+++ b/boards/px4/fmu-v2/init/rc.board_sensors
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# PX4 FMUv2 specific board sensors init
+# board specific sensors init
 #------------------------------------------------------------------------------
 
 rgbled start -I
@@ -65,12 +65,6 @@ then
 	# sensor heating is available, but we disable it for now
 	param set-default SENS_EN_THERMAL 0
 
-	# l3gd20 (external/isolated SPI4)
-	l3gd20 -s -b 4 -R 4 start
-
-	# lsm303d (external/isolated SPI4)
-	lsm303d -s -b 4 -R 6 start
-
 	# ms5611 (external/isolated SPI4)
 	ms5611 -s -b 4 start
 
@@ -89,6 +83,13 @@ then
 		mpu9250 -s -b 1 start
 	fi
 
+	# l3gd20 (external/isolated SPI4)
+	# low quality sensor disabled by default to save memory
+	#l3gd20 -s -b 4 -R 4 start
+
+	# lsm303d (external/isolated SPI4)
+	lsm303d -s -b 4 -R 6 start
+
 else
 	# $BOARD_FMUV3 = 0 -> FMUv2
 
diff --git a/boards/px4/fmu-v3/init/rc.board_defaults b/boards/px4/fmu-v3/init/rc.board_defaults
index 5d576dd747..65348c4f84 100644
--- a/boards/px4/fmu-v3/init/rc.board_defaults
+++ b/boards/px4/fmu-v3/init/rc.board_defaults
@@ -5,3 +5,4 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
+
diff --git a/boards/px4/fmu-v3/init/rc.board_sensors b/boards/px4/fmu-v3/init/rc.board_sensors
index 33e5698d76..f9a0c7217a 100644
--- a/boards/px4/fmu-v3/init/rc.board_sensors
+++ b/boards/px4/fmu-v3/init/rc.board_sensors
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# PX4 FMUv3 specific board sensors init
+# board specific sensors init
 #------------------------------------------------------------------------------
 
 rgbled start -I
@@ -65,12 +65,6 @@ then
 	# sensor heating is available, but we disable it for now
 	param set-default SENS_EN_THERMAL 0
 
-	# l3gd20 (external/isolated SPI4)
-	l3gd20 -s -b 4 -R 4 start
-
-	# lsm303d (external/isolated SPI4)
-	lsm303d -s -b 4 -R 6 start
-
 	# ms5611 (external/isolated SPI4)
 	ms5611 -s -b 4 start
 
@@ -89,6 +83,13 @@ then
 		mpu9250 -s -b 1 start
 	fi
 
+	# l3gd20 (external/isolated SPI4)
+	# low quality sensor disabled by default to save memory
+	#l3gd20 -s -b 4 -R 4 start
+
+	# lsm303d (external/isolated SPI4)
+	lsm303d -s -b 4 -R 6 start
+
 else
 	# $BOARD_FMUV3 = 0 -> FMUv2