From d39d5cc9da99ec17251428d57d232c30564a663b Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Wed, 16 Jul 2014 11:26:32 +0200
Subject: [PATCH] SYS_EXT_MAG parameter added for magnetometer selection

---
 ROMFS/px4fmu_common/init.d/rc.sensors | 27 +++++++++++++++++----------
 src/modules/systemlib/system_params.c | 11 +++++++++++
 2 files changed, 28 insertions(+), 10 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index be54ea98b0..f50e9aff7f 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -6,12 +6,6 @@
 ms5611 start
 adc start
 
-# Mag might be external
-if hmc5883 start
-then
-	echo "[init] Using HMC5883"
-fi
-
 if mpu6000 start
 then
 	echo "[init] Using MPU6000"
@@ -22,12 +16,25 @@ then
 	echo "[init] Using L3GD20(H)"
 fi
 
-if ver hwcmp PX4FMU_V2
+# Use selected (internal/external) magnetometer
+if param compare SYS_EXT_MAG 0
 then
-	# IMPORTANT: EXTERNAL BUSES SHOULD BE SCANNED FIRST
-	if lsm303d start
+	if hmc5883 -I start
+	then
+		echo "[init] Using internal HMC5883"
+	fi
+
+	if ver hwcmp PX4FMU_V2
+	then
+		if lsm303d start
+		then
+			echo "[init] Using internal LSM303D"
+		fi
+	fi
+else
+	if hmc5883 -X start
 	then
-		echo "[init] Using LSM303D"
+		echo "[init] Using external HMC5883"
 	fi
 fi
 
diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c
index 702e435ac9..8cb9236200 100644
--- a/src/modules/systemlib/system_params.c
+++ b/src/modules/systemlib/system_params.c
@@ -82,3 +82,14 @@ PARAM_DEFINE_INT32(SYS_USE_IO, 1);
 * @group System
 */
 PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
+
+/**
+* Set usage of external magnetometer
+*
+* Set to 1 to use external magnetometer instead of internal one.
+*
+* @min 0
+* @max 1
+* @group System
+*/
+PARAM_DEFINE_INT32(SYS_EXT_MAG, 0);