HAL_ChibiOS: convert more boards to using new sensor config system

libraries/AP_HAL_ChibiOS/hwdef/NucleoH743/hwdef.dat

@@ -63,13 +63,13 @@ SPIDEV ms5611         SPI3 DEVID2  BARO_CS   MODE3  8*MHZ  8*MHZ
 PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
 PA1 BATT_CURRENT_SENS ADC1 SCALE(1)
 
-define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
-
 define ALLOW_ARM_NO_COMPASS
 define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
 
 # probe for an invensense IMU
-define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
-define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
+IMU Invensense SPI:mpu6000 ROTATION_NONE
+
+# and ms5611 baro
+BARO MS56XX SPI:ms56xx
 
 # define HAL_DISABLE_DCACHE

libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef.dat

@@ -98,11 +98,11 @@ define HAL_LOGGING_DATAFLASH
 
 define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSNANOV6
 
-define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
-define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_90
+# one IMU
+IMU Invensense SPI:mpu6000 ROTATION_YAW_90
 
-define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI
-define HAL_BARO_BMP280_NAME "bmp280"
+# one baro
+BARO BMP280 SPI:bmp280
 
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types

libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat

@@ -94,11 +94,11 @@ SPIDEV osd        SPI3 DEVID4 OSD_CS MODE0 10*MHZ 10*MHZ
 
 define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF4PRO
 
-define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
-define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180
+# one IMU
+IMU Invensense SPI:mpu6000 ROTATION_YAW_180
 
-define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI
-define HAL_BARO_BMP280_NAME "bmp280"
+# one baro
+BARO BMP280 SPI:bmp280
 
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types

libraries/AP_HAL_ChibiOS/hwdef/omnibusf4v6/hwdef.dat

@@ -116,14 +116,11 @@ SPIDEV dataflash  SPI2 DEVID1 FLASH_CS   MODE3 32*MHZ 32*MHZ
 # enable logging to dataflash
 define HAL_LOGGING_DATAFLASH
 
+# one IMU
+IMU Invensense SPI:mpu6000 ROTATION_YAW_90
 
-define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
-# V6 needs 90 degree gyro alignment
-define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_90
-
-# Baro
-define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI
-define HAL_BARO_BMP280_NAME "bmp280"
+# one baro
+BARO BMP280 SPI:bmp280
 
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types

libraries/AP_HAL_ChibiOS/hwdef/revo-mini/hwdef.dat

@@ -117,22 +117,18 @@ define STORAGE_FLASH_PAGE 2
 # reserve 32k for bootloader and 32k for flash storage
 FLASH_RESERVE_START_KB 64
 
-define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
-define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180
+# one IMU
+IMU Invensense SPI:mpu6000 ROTATION_YAW_90
 
-define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
-define HAL_COMPASS_HMC5843_I2C_BUS 0
-define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
-define HAL_COMPASS_HMC5843_ROTATION ROTATION_YAW_270
-define HAL_COMPASS_AUTO_ROT_DEFAULT 2
-
-define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
-define HAL_BARO_MS5611_I2C_BUS 0
-define HAL_BARO_MS5611_I2C_ADDR 0x77
+# one baro
+BARO MS56XX I2C:0:0x77
 
 # also allow for probing of external barometers
 define HAL_PROBE_EXTERNAL_I2C_BAROS
 
+# look for internal I2C compass
+COMPASS HMC5843 I2C:0:0x1E false ROTATION_YAW_270
+
 # SPI devices
 SPIDEV mpu6000   SPI1 DEVID1 MPU_CS   MODE3 1*MHZ 8*MHZ 
 SPIDEV dataflash SPI3 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ

libraries/AP_HAL_ChibiOS/hwdef/sparky2/hwdef.dat

@@ -41,11 +41,6 @@ I2C_ORDER I2C1
 PB8 I2C1_SCL I2C1
 PB9 I2C1_SDA I2C1
 
-# -------BARO-------------
-define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
-define HAL_BARO_MS5611_I2C_BUS 0
-define HAL_BARO_MS5611_I2C_ADDR 0x77
-
 # ---------USB-------------
 PA11 OTG_FS_DM OTG1
 PA12 OTG_FS_DP OTG1
@@ -125,11 +120,17 @@ FLASH_SIZE_KB 1024
 # reserve 16k for bootloader and 32k for flash storage
 FLASH_RESERVE_START_KB 64
 
-define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
-define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
+# one IMU
+IMU Invensense SPI:mpu9250 ROTATION_NONE
+
+# one baro
+BARO MS56XX I2C:0:0x77
+
+# one compass in mpu9250
+COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
+
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 define HAL_I2C_INTERNAL_MASK 0
-define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 
 # SPI devices
 SPIDEV mpu9250        SPI1 DEVID4  MPU_CS       MODE3  1*MHZ  4*MHZ

libraries/AP_HAL_ChibiOS/hwdef/speedybeef4/hwdef.dat

@@ -122,8 +122,13 @@ define STORAGE_FLASH_PAGE 2
 # reserve 32k for bootloader and 32k for flash storage
 FLASH_RESERVE_START_KB 64
 
-define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
-define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
+# one IMU
+IMU Invensense SPI:mpu6000 ROTATION_YAW_270
+
+# probe for a BMP085, but also look for other baros
+BARO BMP085 I2C:0:0x77
+define HAL_PROBE_EXTERNAL_I2C_BAROS
+define HAL_BARO_ALLOW_INIT_NO_BARO
 
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
@@ -131,13 +136,6 @@ define ALLOW_ARM_NO_COMPASS
 define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 define HAL_I2C_INTERNAL_MASK 1
-define HAL_COMPASS_AUTO_ROT_DEFAULT 2
-
-define HAL_PROBE_EXTERNAL_I2C_BAROS
-define HAL_BARO_ALLOW_INIT_NO_BARO
-define HAL_BARO_DEFAULT HAL_BARO_BMP085
-define HAL_BARO_BMP085_BUS 0
-define HAL_BARO_BMP085_I2C_ADDR 0x77
 
 # SPI devices
 SPIDEV mpu6000   SPI1 DEVID1 MPU6000_CS MODE3 1*MHZ 8*MHZ