Sensors: Reload calibration whenever a new sensor instance is detected

src/modules/sensors/sensors.cpp

@@ -2020,6 +2020,11 @@ Sensors::task_main()
 	 * do subscriptions
 	 */
 
+	int gcount_prev = _gyro_count;
+	int mcount_prev = _mag_count;
+	int acount_prev = _accel_count;
+	int bcount_prev = _baro_count;
+
 	_gyro_count = init_sensor_class(ORB_ID(sensor_gyro), &_gyro_sub[0],
 		&raw.gyro_priority[0], &raw.gyro_errcount[0]);
 
@@ -2032,6 +2037,15 @@ Sensors::task_main()
 	_baro_count = init_sensor_class(ORB_ID(sensor_baro), &_baro_sub[0],
 		&raw.baro_priority[0], &raw.baro_errcount[0]);
 
+	if (gcount_prev != _gyro_count ||
+	    mcount_prev != _mag_count ||
+	    acount_prev != _accel_count ||
+	    bcount_prev != _baro_count) {
+
+		/* reload calibration params */
+		parameter_update_poll(true);
+	}
+
 	_rc_sub = orb_subscribe(ORB_ID(input_rc));
 	_diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
 	_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));