From f294445cd09038874f42ebd869ffe260e214ed9f Mon Sep 17 00:00:00 2001
From: ChristophTobler <christoph@px4.io>
Date: Thu, 18 Jan 2018 14:16:44 +0100
Subject: [PATCH] rc.sensors: start tfmini with appropriate device path for
 FMUv3

---
 ROMFS/px4fmu_common/init.d/rc.sensors | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index d8d72e79ef..38b1b4662a 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -194,7 +194,7 @@ then
 			# lis3mdl internal SPI bus is rotated 90 deg yaw
 		else
 			# BMI055 gyro internal SPI bus
-			bmi055 -G start	
+			bmi055 -G start
 		fi
 	fi
 
@@ -396,7 +396,11 @@ fi
 # Benewake TFMini
 if param greater SENS_EN_TFMINI 0
 then
-	tfmini start
+	if ver hwcmp PX4FMU_V3
+	then
+		# start the driver on serial 4/5
+		tfmini start -d /dev/ttyS6
+	fi
 fi
 
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)