AP_InertialSensor: Run vibration monitoring on all instances

libraries/AP_InertialSensor/AP_InertialSensor.h

@@ -7,6 +7,8 @@
 #define AP_INERTIAL_SENSOR_ACCEL_VIBE_FILT_HZ           2.0f    // accel vibration filter hz
 #define AP_INERTIAL_SENSOR_ACCEL_PEAK_DETECT_TIMEOUT_MS 500     // peak-hold detector timeout
 
+#include <AP_HAL/AP_HAL.h>
+
 /**
    maximum number of INS instances available on this platform. If more
    than 1 then redundant sensors may be available
@@ -14,7 +16,13 @@
 #define INS_MAX_INSTANCES 3
 #define INS_MAX_BACKENDS  6
 #define INS_MAX_NOTCHES 4
-#define INS_VIBRATION_CHECK_INSTANCES 2
+#ifndef INS_VIBRATION_CHECK_INSTANCES
+  #if HAL_MEM_CLASS >= HAL_MEM_CLASS_300
+    #define INS_VIBRATION_CHECK_INSTANCES INS_MAX_INSTANCES
+  #else
+    #define INS_VIBRATION_CHECK_INSTANCES 1
+  #endif
+#endif
 #define XYZ_AXIS_COUNT    3
 // The maximum we need to store is gyro-rate / loop-rate, worst case ArduCopter with BMI088 is 2000/400
 #define INS_MAX_GYRO_WINDOW_SAMPLES 8