AP_InertialSensor: support new sensor config setup

libraries/AP_InertialSensor/AP_InertialSensor.cpp

@@ -33,6 +33,10 @@
 #define timing_printf(fmt, args...)
 #endif
 
+#ifndef HAL_DEFAULT_INS_FAST_SAMPLE
+#define HAL_DEFAULT_INS_FAST_SAMPLE 0
+#endif
+
 extern const AP_HAL::HAL& hal;
 
 #if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
@@ -431,7 +435,7 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
     // @User: Advanced
     // @Values: 1:FirstIMUOnly,3:FirstAndSecondIMU
     // @Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU
-    AP_GROUPINFO("FAST_SAMPLE",  36, AP_InertialSensor, _fast_sampling_mask,   0),
+    AP_GROUPINFO("FAST_SAMPLE",  36, AP_InertialSensor, _fast_sampling_mask,   HAL_DEFAULT_INS_FAST_SAMPLE),
 
     // @Group: NOTCH_
     // @Path: ../Filter/NotchFilter.cpp
@@ -697,7 +701,10 @@ AP_InertialSensor::detect_backends(void)
         ADD_BACKEND(AP_InertialSensor_HIL::detect(*this));
         return;
     }
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if defined(HAL_INS_PROBE_LIST)
+    // IMUs defined by IMU lines in hwdef.dat
+    HAL_INS_PROBE_LIST;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
     ADD_BACKEND(AP_InertialSensor_SITL::detect(*this));
 #elif HAL_INS_DEFAULT == HAL_INS_HIL
     ADD_BACKEND(AP_InertialSensor_HIL::detect(*this));
@@ -769,13 +776,6 @@ AP_InertialSensor::detect_backends(void)
         ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_NONE));
         break;
         
-    case AP_BoardConfig::PX4_BOARD_PIXRACER:
-        // only do fast samplng on ICM-20608. The MPU9250 doesn't handle high rate well when it has a mag enabled
-        _fast_sampling_mask.set_default(1);
-        ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_ICM20608_NAME), ROTATION_ROLL_180_YAW_90));
-        ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180_YAW_90));
-        break;
-
     case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:
         _fast_sampling_mask.set_default(3);
         ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_ICM20608_NAME), ROTATION_ROLL_180_YAW_90));