From e7a9de9b41ed7e5b3307758f6e6dff3bbf3c3ff4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 9 Nov 2016 21:18:55 +1100
Subject: [PATCH] AP_BoardConfig: use in-tree drivers for PH2SLIM

---
 libraries/AP_BoardConfig/AP_BoardConfig.h |  2 -
 libraries/AP_BoardConfig/px4_drivers.cpp  | 55 +++--------------------
 2 files changed, 5 insertions(+), 52 deletions(-)

diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index b7a96b4fef..042ff62f34 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -110,8 +110,6 @@ private:
     void px4_start_fmuv1_sensors(void);
     void px4_start_fmuv2_sensors(void);
     void px4_start_fmuv4_sensors(void);
-    void px4_start_pixhawk2slim_sensors(void);
-    void px4_start_phmini_sensors(void);
     void px4_start_optional_sensors(void);
 #endif
 
diff --git a/libraries/AP_BoardConfig/px4_drivers.cpp b/libraries/AP_BoardConfig/px4_drivers.cpp
index f9619bf5fc..3aabefdf94 100644
--- a/libraries/AP_BoardConfig/px4_drivers.cpp
+++ b/libraries/AP_BoardConfig/px4_drivers.cpp
@@ -386,48 +386,6 @@ void AP_BoardConfig::px4_start_fmuv2_sensors(void)
 }
 
 
-/*
-  setup sensors for Pixhawk2-slim
- */
-void AP_BoardConfig::px4_start_pixhawk2slim_sensors(void)
-{
-#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
-    printf("Starting PH2SLIM sensors\n");
-    if (px4_start_driver(hmc5883_main, "hmc5883", "-C -T -I -R 4 start")) {
-        printf("Have internal hmc5883\n");
-    } else {
-        printf("No internal hmc5883\n");
-    }
-
-    if (px4_start_driver(mpu9250_main, "mpu9250", "-R 14 start")) {
-        printf("Found MPU9250 internal\n");
-    } else if (px4_start_driver(mpu6000_main, "mpu6000", "-R 14 -T 20608 start")) {
-        printf("Found ICM20608 internal\n");
-    } else if (px4_start_driver(mpu6000_main, "mpu6000", "-R 14 start")) {
-        printf("Found MPU6000 internal\n");
-    } else {
-        px4_sensor_error("No MPU9250 or ICM20608 or MPU6000");
-    }
-
-    // on Pixhawk2 default IMU temperature to 60
-    _imu_target_temperature.set_default(60);
-    
-    printf("PH2SLIM sensors started\n");
-#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
-}
-
-
-/*
-  setup sensors for PHMINI
- */
-void AP_BoardConfig::px4_start_phmini_sensors(void)
-{
-#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
-    // we will use the internal sensor drivers for the mini, so nothing to do here
-    printf("PHMINI: using in-tree IMU drivers\n");
-#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
-}
-
 /*
   setup sensors for PX4v1
  */
@@ -662,11 +620,16 @@ void AP_BoardConfig::px4_setup_drivers(void)
 #if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
     px4.board_type.set_and_notify(PX4_BOARD_PIXRACER);
 #endif
+
+    if (px4.board_type == PX4_BOARD_PH2SLIM) {
+        _imu_target_temperature.set_default(60);
+    }
     
     if (px4.board_type == PX4_BOARD_TEST_V1 ||
         px4.board_type == PX4_BOARD_TEST_V2 ||
         px4.board_type == PX4_BOARD_TEST_V3 ||
         px4.board_type == PX4_BOARD_PHMINI ||
+        px4.board_type == PX4_BOARD_PH2SLIM ||
         px4.board_type == PX4_BOARD_PIXRACER) {
         // use in-tree drivers
         printf("Using in-tree drivers\n");
@@ -677,14 +640,6 @@ void AP_BoardConfig::px4_setup_drivers(void)
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
     px4_start_common_sensors();
     switch ((px4_board_type)px4.board_type.get()) {
-    case PX4_BOARD_PH2SLIM:
-        px4_start_pixhawk2slim_sensors();
-        break;
-
-    case PX4_BOARD_PHMINI:
-        px4_start_phmini_sensors();
-        break;
-
     case PX4_BOARD_AUTO:
     default:
         px4_start_fmuv1_sensors();