added inflight acc cal as a feature (NOT TESTED NOT GUARANTEED TO WORK ETC)

changed gyro/acc to allow different drivers without recompile, this allowed adding mpu6050 support w/autodetect
moved sensor orientation code into driver - each driver provides its own
added support for mpu6050 - desolder mpu3050 and adxl345, replace with mpu6050 for instant ???
merged multiwii 2.0pre3 code changes (none that mattered except mag calibration and typo in baro stuff)
changes to sensor autodetect for new dynamic drivers
more of ledring stuff done (still doesn't work, so dont try)


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@115 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/main.c

@@ -31,24 +31,15 @@ int main(void)
         LED1_TOGGLE;
         LED0_TOGGLE;
         delay(25);
-        BEEP_ON
+        BEEP_ON;
         delay(25);
         BEEP_OFF;
     }
     LED0_OFF;
     LED1_OFF;
 
-    // drop out any sensors that don't seem to work
-     sensorsAutodetect();
-
-    // Init sensors
-    if (sensors(SENSOR_BARO))
-        bmp085Init();
-    if (sensors(SENSOR_ACC))
-        adxl345Init();
-    // if this fails, we get a beep + blink pattern. we're doomed.
-    mpu3050Init();
-
+    // drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
+    sensorsAutodetect();
     imuInit(); // Mag is initialized inside imuInit
 
     previousTime = micros();