Merge branch 'main' into pr-boards_serial_rc

boards/zeroone/x6/init/rc.board_sensors

@@ -149,6 +149,9 @@ rm3100 -I -b 4 start
 # 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)
 ist8310 -X -b 1 -R 10 start
 
+# Internal compass
+ist8310 start -I -a 0x0E -R 12
+
 # Possible internal Baro
 if param compare SENS_INT_BARO_EN 1
 then

boards/zeroone/x6/src/init.c

@@ -144,8 +144,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }