AP_InertialSensor: support ChibiOS FMUv4

libraries/AP_InertialSensor/AP_InertialSensor.cpp

@@ -709,8 +709,7 @@ AP_InertialSensor::detect_backends(void)
 #elif HAL_INS_DEFAULT == HAL_INS_BH
     _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU60x0_I2C_BUS, HAL_INS_MPU60x0_I2C_ADDR)));
     _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
-#elif defined(HAL_CHIBIOS_ARCH_FMUV3) || HAL_INS_DEFAULT == HAL_INS_PX4 || HAL_INS_DEFAULT == HAL_INS_VRBRAIN
-
+#elif AP_FEATURE_BOARD_DETECT
     switch (AP_BoardConfig::get_board_type()) {
     case AP_BoardConfig::PX4_BOARD_PX4V1:
         _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));