From 53bb6c682281169e790c575b13bef7e386b74202 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Sun, 23 Apr 2017 16:54:39 +0200
Subject: [PATCH] ROMFS: Start ICM on all boards

---
 ROMFS/px4fmu_common/init.d/rc.sensors | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 8b5ce28dd9..98963d99b2 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -198,6 +198,11 @@ then
 	then
 	fi
 
+	# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
+	if mpu6000 -R 2 -T 20602 start
+	then
+	fi
+
 	# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same
 	# chip select pin. There are different boards with either one of them and the WHO_AM_I register
 	# will prevent the incorrect driver from a successful initialization.