Added MPU9250 ACC detection.

src/main/io/serial_cli.c

@@ -228,7 +228,7 @@ static const char * const sensorTypeNames[] = {
 
 static const char * const sensorHardwareNames[4][11] = {
     { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "FAKE", NULL },
-    { "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "FAKE", NULL },
+    { "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "FAKE", NULL },
     { "", "None", "BMP085", "MS5611", "BMP280", NULL },
     { "", "None", "HMC5883", "AK8975", "AK8963", NULL }
 };

src/main/sensors/acceleration.h

@@ -20,15 +20,16 @@
 // Type of accelerometer used/detected
 typedef enum {
     ACC_DEFAULT = 0,
-    ACC_NONE = 1,
+    ACC_NONE,
-    ACC_ADXL345 = 2,
+    ACC_ADXL345,
-    ACC_MPU6050 = 3,
+    ACC_MPU6050,
-    ACC_MMA8452 = 4,
+    ACC_MMA8452,
-    ACC_BMA280 = 5,
+    ACC_BMA280,
-    ACC_LSM303DLHC = 6,
+    ACC_LSM303DLHC,
-    ACC_MPU6000 = 7,
+    ACC_MPU6000,
-    ACC_MPU6500 = 8,
+    ACC_MPU6500,
-    ACC_FAKE = 9,
+    ACC_MPU9250,
+    ACC_FAKE,
     ACC_MAX = ACC_FAKE
 } accelerationSensor_e;
 

src/main/sensors/initialisation.c

@@ -384,6 +384,20 @@ retry:
             }
 #endif
             ; // fallthrough
+	case ACC_MPU9250:
+#ifdef USE_ACC_SPI_MPU9250
+
+        if (mpu9250SpiAccDetect(&acc))
+        {
+            accHardware = ACC_MPU9250;
+#ifdef ACC_MPU9250_ALIGN
+            accAlign = ACC_MPU9250_ALIGN;
+#endif
+
+            break;
+        }
+#endif
+        ; // fallthrough
         case ACC_FAKE:
 #ifdef USE_FAKE_ACC
             if (fakeAccDetect(&acc)) {