XSens -> 230k4: otherwise half the data is lost. Fixed GPS_NB_CHANNELS issue with new GPS

conf/airframes/TU_Delft/yapa_xsens.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE airframe SYSTEM "../airframe.dtd">
 
-<!-- 
+<!--
 	YAPA + XSens + XBee
 -->
 
@@ -51,7 +51,7 @@
     <!-- Brake Rate Limiter -->
     <let var="brake_value" value="Chop(-@BRAKE, 0, MAX_PPRZ)"/>
     <!--<let var="brake_value" value="RATELIMIT(  $brake_value , MAX_BRAKE_RATE )"/>
-    
+
     <let var="test; \
   	      static int16_t _var_brake_value = 0; \
               _var_brake_value += LIMIT(_var_brake_value_nofilt - _var_brake_value,-MAX_BRAKE_RATE,MAX_BRAKE_RATE); \
@@ -180,14 +180,16 @@
     <load name="ins_xsens_MTiG_fixedwing.xml">
       <configure name="XSENS_UART_NR" value="0"/>
     </load>
-
+<!--
     <load name="light.xml">
       <define name="LIGHT_LED_STROBE" value="3"/>
       <define name="LIGHT_LED_NAV" value="2"/>
       <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
       <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
     </load>
-<!--    <load name="digital_cam_i2c.xml"/>  -->
+    -->
+    <!--    <load name="digital_cam_i2c.xml"/>  -->
+    <load name="mag_hmc5843.xml" />
     <load name="digital_cam.xml" >
       <define name="DC_SHUTTER_LED" value="3"/>
     </load>
@@ -218,6 +220,8 @@
     <subsystem name="navigation"/>
     <subsystem name="gps" type="xsens"/>
 
-  </firmware>
+    <subsystem name="i2c"/>
+
+</firmware>
 
 </airframe>