From 51374aec7b5610cd7bc2900c517c790e63c6e3a7 Mon Sep 17 00:00:00 2001
From: Silvan Fuhrer <silvan@auterion.com>
Date: Mon, 14 Oct 2019 21:16:33 +0200
Subject: [PATCH] px4_fmu-v5: add here2 mag to startup

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---
 boards/px4/fmu-v5/init/rc.board_sensors | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/boards/px4/fmu-v5/init/rc.board_sensors b/boards/px4/fmu-v5/init/rc.board_sensors
index 4fa0c9151b..8d93918905 100644
--- a/boards/px4/fmu-v5/init/rc.board_sensors
+++ b/boards/px4/fmu-v5/init/rc.board_sensors
@@ -22,6 +22,13 @@ hmc5883 -C -T -X start
 qmc5883 -X start
 lis3mdl -X start
 
+# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
+if ! icm20948 -X -M -R 6 start
+then
+	# external emulated AK09916 (Here2) is rotated 270 degrees yaw
+	ak09916 -X -R 6 start
+fi
+
 # Possible internal compass
 ist8310 -C -b 5 start