From 65d74fd6a7b28946523e0974f5b6fdb291ae833e Mon Sep 17 00:00:00 2001
From: jflyper <shinoda@jaist.ac.jp>
Date: Thu, 20 Jul 2017 18:32:26 +0900
Subject: [PATCH] Run sensor detection to the end regardless of the gyro
 detection stataus

Is it harmful for drivers that handle mag inside the gyro chip?
---
 src/main/sensors/initialisation.c | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index bbccc94143..4a59bf88f4 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -56,12 +56,14 @@ static bool sonarDetect(void)
 
 bool sensorsAutodetect(void)
 {
-    // gyro must be initialised before accelerometer
-    if (!gyroInit()) {
-        return false;
-    }
 
-    accInit(gyro.targetLooptime);
+    // gyro must be initialised before accelerometer
+
+    bool gyroDetected = gyroInit();
+
+    if (gyroDetected) {
+        accInit(gyro.targetLooptime);
+    }
 
 #ifdef MAG
     compassInit();
@@ -77,5 +79,5 @@ bool sensorsAutodetect(void)
     }
 #endif
 
-    return true;
+    return gyroDetected;
 }