From 34f53c14bf7838e5312801215bf6012f61137683 Mon Sep 17 00:00:00 2001
From: dino <dino@auterion.com>
Date: Wed, 27 Nov 2019 12:28:17 +0100
Subject: [PATCH] Fixed sensor orientation

---
 boards/px4/fmu-v5x/init/rc.board_sensors |  4 ++--
 src/drivers/imu/bmi088/BMI088_gyro.cpp   | 13 ++++++-------
 src/drivers/imu/bmi088/BMI088_gyro.hpp   |  3 ++-
 3 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/boards/px4/fmu-v5x/init/rc.board_sensors b/boards/px4/fmu-v5x/init/rc.board_sensors
index 9c6fe00b0c..98e27e7f3c 100644
--- a/boards/px4/fmu-v5x/init/rc.board_sensors
+++ b/boards/px4/fmu-v5x/init/rc.board_sensors
@@ -16,10 +16,10 @@ mpu6000 -R 8 -s -T 20602 start
 ism330dlc start
 
 # Internal SPI bus BMI088 accel
-bmi088 -A -R 10 start
+bmi088 -A -R 12 start
 
 # Internal SPI bus BMI088 gyro
-bmi088 -G -R 10 start
+bmi088 -G -R 12 start
 
 # Possible external compasses
 ist8310 -C -b 1 start
diff --git a/src/drivers/imu/bmi088/BMI088_gyro.cpp b/src/drivers/imu/bmi088/BMI088_gyro.cpp
index 35d96bbc54..a58d4c0848 100644
--- a/src/drivers/imu/bmi088/BMI088_gyro.cpp
+++ b/src/drivers/imu/bmi088/BMI088_gyro.cpp
@@ -367,7 +367,6 @@ BMI088_gyro::measure()
 
 	check_registers();
 
-
 	// Get the last temperature from the accelerometer (the Gyro does not have its own temperature measurement)
 	_last_temperature = _accel_last_temperature_copy;
 
@@ -376,14 +375,14 @@ BMI088_gyro::measure()
 	report.gyro_y = bmi_gyroreport.gyro_y;
 	report.gyro_z = bmi_gyroreport.gyro_z;
 
-	if ((bmi_gyroreport.chip_id & 0x0f) != BMI088_GYR_WHO_AM_I) {
-		// all zero data - probably an SPI bus error
+	if ((bmi_gyroreport.chip_id) != BMI088_GYR_WHO_AM_I) {
+		// If chip id is not right, assume a bus transfer error
 		perf_count(_bad_transfers);
 		perf_end(_sample_perf);
-		//	// note that we don't call reset() here as a reset()
-		//	// costs 20ms with interrupts disabled. That means if
-		//	// the bmi088 does go bad it would cause a FMU failure,
-		//	// regardless of whether another sensor is available,
+		// note that we don't call reset() here as a reset()
+		// costs 20ms with interrupts disabled. That means if
+		// the bmi088 does go bad it would cause a FMU failure,
+		// regardless of whether another sensor is available,
 		return;
 	}
 
diff --git a/src/drivers/imu/bmi088/BMI088_gyro.hpp b/src/drivers/imu/bmi088/BMI088_gyro.hpp
index feac4abbaa..0d53dff653 100644
--- a/src/drivers/imu/bmi088/BMI088_gyro.hpp
+++ b/src/drivers/imu/bmi088/BMI088_gyro.hpp
@@ -251,7 +251,8 @@ private:
 	     */
 	struct BMI_GyroReport {
 		uint8_t     cmd;
-		uint16_t    chip_id;
+		uint8_t     chip_id;	// Read to check if bus is workig
+		uint8_t     ununsed;
 		int16_t     gyro_x;
 		int16_t     gyro_y;
 		int16_t     gyro_z;