From e4d223f09811455d46241273793415ec4bd5c2f6 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 17 Jan 2021 23:19:18 -0500
Subject: [PATCH] boards: CUAV Nora fix BMI088 orientation

---
 boards/cuav/nora/init/rc.board_sensors | 16 +++++++++-------
 boards/cuav/nora/src/spi.cpp           |  1 -
 2 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/boards/cuav/nora/init/rc.board_sensors b/boards/cuav/nora/init/rc.board_sensors
index e12b50a5e5..05375d625c 100644
--- a/boards/cuav/nora/init/rc.board_sensors
+++ b/boards/cuav/nora/init/rc.board_sensors
@@ -4,16 +4,18 @@
 #------------------------------------------------------------------------------
 board_adc start
 
-# SPI1 (internal)
-rm3100 -s start
-icm20689 -s -R 2 start
+# SPI1
+icm20689 -s -b 1 -R 2 start
 
-# SPI4 (internal)
-bmi088 -A -s -R 10 start
-bmi088 -G -s -R 10 start
+# SPI2
+rm3100 -s -b 2 start
+
+# SPI4
+bmi088 -s -b 4 -A -R 2 start
+bmi088 -s -b 4 -G -R 2 start
 ms5611 -s -b 4 start
 
-# SPI6 (internal)
+# SPI6
 icm20649 -s -b 6 -R 2 start
 ms5611 -s -b 6 start
 
diff --git a/boards/cuav/nora/src/spi.cpp b/boards/cuav/nora/src/spi.cpp
index 66bef692c6..9a4d6d30ff 100644
--- a/boards/cuav/nora/src/spi.cpp
+++ b/boards/cuav/nora/src/spi.cpp
@@ -37,7 +37,6 @@
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}), // ADIS16470
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortG, GPIO::Pin6}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}),
 	}, {GPIO::PortE, GPIO::Pin3}),
 	initSPIBus(SPI::Bus::SPI2, {