AP_HAL_ChibiOS: Added support for Bitcraze Crazyflie 2.1

libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef.dat

@@ -99,10 +99,10 @@ define STORAGE_FLASH_PAGE 1
 FLASH_RESERVE_START_KB 64
 
 # one IMU
-IMU Invensense I2C:0:0x69 ROTATION_YAW_180
+IMU BMI088 I2C:0:0x18 I2C:0:0x69 ROTATION_ROLL_180
 
 # one baro, attached via I2C on IMU
-BARO LPS2XH:probe_InvensenseIMU I2C:0:0x5D 0x69
+BARO BMP388 I2C:0:0x77
 
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types

libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp

@@ -223,10 +223,9 @@ bool AP_InertialSensor_BMI088::gyro_init()
         return false;
     }
 
-    if (!dev_gyro->write_register(REGG_BGW_SOFTRESET, 0xB6)) {
-        return false;
-    }
-    hal.scheduler->delay(10);
+    // Soft-reset gyro
+    dev_gyro->write_register(REGG_BGW_SOFTRESET, 0xB6);
+    hal.scheduler->delay(30);
 
     dev_gyro->setup_checked_registers(5, 20);