px4_fmu-v6x:Rev 6 Sensors omit starting icm42688p, icm42670p, icm2064…

…9, icm20602
PX4 · Oct 19, 2023 · 96ee73f · 96ee73f
1 parent 71b9e31
commit 96ee73f
Showing 1 changed file with 19 additions and 19 deletions.
diff --git a/boards/px4/fmu-v6x/init/rc.board_sensors b/boards/px4/fmu-v6x/init/rc.board_sensors
@@ -81,32 +81,32 @@ else
 			fi
 		fi
 	fi
-fi
 
-# Internal SPI bus ICM42688p
-if ver hwtypecmp V6X009010 V6X010010
-then
-	icm42688p -R 12 -s start
-else
-	if ver hwtypecmp V6X000010
+	# Internal SPI bus ICM42688p
+	if ver hwtypecmp V6X009010 V6X010010
 	then
-		icm42688p -R 14 -s start
+		icm42688p -R 12 -s start
 	else
-		icm42688p -R 6 -s start
+		if ver hwtypecmp V6X000010
+		then
+			icm42688p -R 14 -s start
+		else
+			icm42688p -R 6 -s start
+		fi
 	fi
-fi
 
-if ver hwtypecmp V6X000003 V6X001003 V6X003003 V6X000004 V6X001004 V6X004003 V6X004004 V6X005003 V6X005004
-then
-	# Internal SPI bus ICM-42670-P (hard-mounted)
-	icm42670p -R 10 -s start
-else
-	if ver hwtypecmp V6X009010 V6X010010
+	if ver hwtypecmp V6X000003 V6X001003 V6X003003 V6X000004 V6X001004 V6X004003 V6X004004 V6X005003 V6X005004
 	then
-		icm20602 -R 6 -s start
+		# Internal SPI bus ICM-42670-P (hard-mounted)
+		icm42670p -R 10 -s start
 	else
-		# Internal SPI bus ICM-20649 (hard-mounted)
-		icm20649 -R 14 -s start
+		if ver hwtypecmp V6X009010 V6X010010
+		then
+			icm20602 -R 6 -s start
+		else
+			# Internal SPI bus ICM-20649 (hard-mounted)
+			icm20649 -R 14 -s start
+		fi
 	fi
 fi