From 103bb2a08dac3d9b1967fbc2610e06c6e26b1a48 Mon Sep 17 00:00:00 2001 From: ahcorde Date: Mon, 17 Nov 2014 18:09:38 +0100 Subject: [PATCH] AP_InertialSensor: Fix orientation MPU6000 PXF --- .../AP_InertialSensor/AP_InertialSensor_MPU6000.cpp | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp index dccf83a428..fa665494fb 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp @@ -296,10 +296,15 @@ bool AP_InertialSensor_MPU6000::update( void ) hal.scheduler->resume_timer_procs(); gyro *= _gyro_scale / num_samples; - _publish_gyro(_gyro_instance, gyro); - accel *= MPU6000_ACCEL_SCALE_1G / num_samples; + +#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF + accel.rotate(ROTATION_PITCH_180_YAW_90); + gyro.rotate(ROTATION_PITCH_180_YAW_90); +#endif + _publish_accel(_accel_instance, accel); + _publish_gyro(_gyro_instance, gyro); #if MPU6000_FAST_SAMPLING if (_last_accel_filter_hz != _accel_filter_cutoff()) {