Use i2c bus 0.

main/sensors.go

@@ -33,7 +33,7 @@ var (
 )
 
 func initI2CSensors() {
-	i2cbus = embd.NewI2CBus(1)
+	i2cbus = embd.NewI2CBus(0)
 
 	go pollSensors()
 	go sensorAttitudeSender()
@@ -124,7 +124,7 @@ func tempAndPressureSender() {
 }
 
 func initIMU() (ok bool) {
-	imu, err := sensors.NewMPU9250()
+	imu, err := sensors.NewMPU9250(&i2cbus)
 	if err == nil {
 		myIMUReader = imu
 		return true

sensors/mpu9250.go

@@ -19,14 +19,14 @@ type MPU9250 struct {
 
 // NewMPU9250 returns an instance of the MPU9250 IMUReader, connected to an
 // MPU9250 attached on the I2C bus with either valid address.
-func NewMPU9250() (*MPU9250, error) {
+func NewMPU9250(i2cbus *embd.I2CBus) (*MPU9250, error) {
 	var (
 		m   MPU9250
 		mpu *mpu9250.MPU9250
 		err error
 	)
 
-	mpu, err = mpu9250.NewMPU9250(gyroRange, accelRange, updateFreq, true, false)
+	mpu, err = mpu9250.NewMPU9250(i2cbus, gyroRange, accelRange, updateFreq, true, false)
 	if err != nil {
 		return nil, err
 	}