MPU9250 I2C mode

Fixes for other boards

Functioning sensors

ROMFS/px4fmu_common/init.d/4900_crazyflie

@@ -10,5 +10,12 @@
 sh /etc/init.d/4001_quad_x
 
 
+if [ $AUTOCNF == yes ]
+then
+	param set COM_RC_IN_MODE 2
+	param set BAT_N_CELLS 1
+	param set BAT_CAPACITY 240
+	param set BAT_SOURCE 1
+fi
+
 set OUTPUT_MODE crazyflie
-set USE_IO no

ROMFS/px4fmu_common/init.d/rc.interface

@@ -109,6 +109,11 @@ then
         set MIXER_AUX none
 fi
 
+if ver hwcmp CRAZYFLIE
+then
+	set MIXER_AUX none
+fi
+
 if [ $MIXER_AUX != none -a $AUX_MODE != none ]
 then
 	#

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -8,12 +8,20 @@ then
 	if ms5611 start
 	then
 	fi
+
 else
+	if ver hwcmp CRAZYFLIE
+	then
+	# Crazyflie uses separate driver
+	else
+
 	# Configure all I2C buses to 100 KHz as they
 	# are all external or slow
 	fmu i2c 1 100000
 	fmu i2c 2 100000
 
+	fi
+
 	if ver hwcmp PX4FMU_V4
 	then
 		# We know there are sketchy boards out there
@@ -198,6 +206,19 @@ then
 	fi
 fi
 
+if ver hwcmp CRAZYFLIE
+then
+	# Onboard I2C
+	if mpu9250 -R 12 start
+	then
+	fi
+
+	# I2C bypass of mpu 
+	if lps25h start
+	then
+	fi
+fi
+
 if meas_airspeed start
 then
 else

ROMFS/px4fmu_common/init.d/rcS

@@ -164,10 +164,16 @@ then
 		then
 			set USE_IO no
 		fi
+
+		if ver hwcmp CRAZYFLIE
+		then
+			set USE_IO no
+		fi
 	else
 		set USE_IO no
 	fi
 
+
 	# should set to 0.8 for mindpx-v2 borad.
 	if param compare INAV_LIDAR_ERR 0.5
 	then
@@ -675,6 +681,15 @@ then
 		ardrone_interface start -d /dev/ttyS1
 	fi
 
+
+	#
+	# Start Crazyflie driver
+	#
+	if ver hwcmp CRAZYFLIE
+	then
+		crazyflie start
+	fi
+
 	#
 	# Fixed wing setup
 	#