From bdb0fe77d03c19d2aa71d11b4a3937d58dd8fc56 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Marco=20R=C3=A4th?=
 <119662383+marcoraeth@users.noreply.github.com>
Date: Tue, 28 Feb 2023 11:01:16 +0100
Subject: [PATCH] v6x: fix mag orientation for V6X009010 and V6X010010 (#21194)

---
 boards/px4/fmu-v6x/init/rc.board_sensors | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/boards/px4/fmu-v6x/init/rc.board_sensors b/boards/px4/fmu-v6x/init/rc.board_sensors
index 8cd5ae7873..52aa8f9c78 100644
--- a/boards/px4/fmu-v6x/init/rc.board_sensors
+++ b/boards/px4/fmu-v6x/init/rc.board_sensors
@@ -47,6 +47,7 @@ then
 	fi
 fi
 
+
 if ver hwtypecmp V6X000004 V6X001004 V6X004004 V6X005004
 then
 	# Internal SPI bus ICM20649
@@ -101,7 +102,13 @@ if ver hwtypecmp V6X002001
 then
 	rm3100 -I -b 4 start
 else
-	bmm150 -I -R 6 start
+	if ver hwtypecmp V6X009010 V6X010010
+	then
+		# Internal magnetometer on I2C
+		bmm150 -I -R 0 start
+	else
+		bmm150 -I -R 6 start
+	fi
 fi
 
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)