From 5f16c976627bb6170dc6e389905fc4ce56fb3faf Mon Sep 17 00:00:00 2001
From: James Goppert <jgoppert@users.noreply.github.com>
Date: Fri, 29 Jul 2016 16:18:27 -0400
Subject: [PATCH] Added mb12xx sensor enable. (#5164)

---
 ROMFS/px4fmu_common/init.d/rcS      |  6 ++++++
 src/modules/sensors/sensor_params.c | 10 ++++++++++
 2 files changed, 16 insertions(+)

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 4f101e89f7..c89b4bf84d 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -593,6 +593,12 @@ then
 		sf0x start
 	fi
 
+	# mb12xx sonar sensor
+	if param compare SENS_EN_MB12XX 1
+	then
+		mb12xx start
+	fi
+
 	if ver hwcmp PX4FMU_V4
 	then
 		frsky_telemetry start -d /dev/ttyS6
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index b4e8983f2a..710b4154d2 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -3054,6 +3054,16 @@ PARAM_DEFINE_INT32(SENS_EN_LL40LS, 0);
  */
 PARAM_DEFINE_INT32(SENS_EN_SF0X, 0);
 
+/**
+ * Maxbotix Soanr (mb12xx)
+ *
+ * @reboot_required true
+ *
+ * @boolean
+ * @group Sensor Enable
+ */
+PARAM_DEFINE_INT32(SENS_EN_MB12XX, 0);
+
 /**
  * Set the minimum PWM for the MAIN outputs
  *