From 96ee73f2952d8235ab32536ba6649490a2be7911 Mon Sep 17 00:00:00 2001
From: David Sidrane <David.Sidrane@NscDg.com>
Date: Wed, 18 Oct 2023 03:05:54 -0700
Subject: [PATCH] px4_fmu-v6x:Rev 6 Sensors omit starting icm42688p, icm42670p,
 icm20649, icm20602

---
 boards/px4/fmu-v6x/init/rc.board_sensors | 38 ++++++++++++------------
 1 file changed, 19 insertions(+), 19 deletions(-)

diff --git a/boards/px4/fmu-v6x/init/rc.board_sensors b/boards/px4/fmu-v6x/init/rc.board_sensors
index 5155fcf96c1e..d3ae62d8a453 100644
--- 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